Position error estimation and compensation of 3-DOF delta robot under the effect of link tolerances

Darren Alton Dsouza, Rayyan Muhammad Rafikh, Ankur Jaiswal

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)1554-1559
Number of pages6
JournalMaterials Today: Proceedings
Volume62
DOIs
Publication statusPublished - 01-2022

All Science Journal Classification (ASJC) codes

  • General Materials Science

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