TY - JOUR
T1 - Position error estimation and compensation of 3-DOF delta robot under the effect of link tolerances
AU - Alton Dsouza, Darren
AU - Muhammad Rafikh, Rayyan
AU - Jaiswal, Ankur
N1 - Funding Information:
The authors gratefully acknowledge the financial support from the Ministry of Education and Universiti Teknologi Malaysia under HICOE Research Grant (Project Number: R.J090301.7851.4J423 ) and UTM High Impact Research (Project Number: Q.J130000.2451.08G36 ). The authors would also like to acknowledge technical and management support from Research Management Centre ( RMC ), Universiti Teknologi Malaysia (UTM), Malaysia.
Publisher Copyright:
© 2022
PY - 2022/1
Y1 - 2022/1
N2 - Spatial parallel mechanism is one of the prominent areas of research in robotics. Delta robots are widely used in the area of biomedical and surgical and other mechanisms aimed to enhance the movement of manipulators for various tasks in the industries. This article presents the investigation of position error in a 3-DOF delta robot under the effect of link tolerance. First, the generalized mathematical formulation is demonstrated and then the comparative estimation is presented. The forward and inverse kinematics of the manipulator is derived using the loop-closure equation. The position error is estimated by using the proposed approach. Different combinations of tolerances are considered and an effort is made to compensate for the maximum position error that occurred by varying the input angles. The proposed approach is helpful in analyzing spatial parallel configurations further it is providing a computational method for simulating complex manipulations.
AB - Spatial parallel mechanism is one of the prominent areas of research in robotics. Delta robots are widely used in the area of biomedical and surgical and other mechanisms aimed to enhance the movement of manipulators for various tasks in the industries. This article presents the investigation of position error in a 3-DOF delta robot under the effect of link tolerance. First, the generalized mathematical formulation is demonstrated and then the comparative estimation is presented. The forward and inverse kinematics of the manipulator is derived using the loop-closure equation. The position error is estimated by using the proposed approach. Different combinations of tolerances are considered and an effort is made to compensate for the maximum position error that occurred by varying the input angles. The proposed approach is helpful in analyzing spatial parallel configurations further it is providing a computational method for simulating complex manipulations.
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U2 - 10.1016/j.matpr.2022.02.492
DO - 10.1016/j.matpr.2022.02.492
M3 - Article
AN - SCOPUS:85126737218
SN - 2214-7853
VL - 62
SP - 1554
EP - 1559
JO - Materials Today: Proceedings
JF - Materials Today: Proceedings
ER -