TY - JOUR
T1 - Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances
AU - Barai, Sidhant
AU - Jaiswal, Ankur
AU - Lochan, Kshetrimayum
N1 - Publisher Copyright:
© 2022
PY - 2022/1
Y1 - 2022/1
N2 - The positional error analysis of the 3-RPR (R-Revolute, P-Prismatic) planar parallel manipulator under the effect of link tolerances is presented. In this research, a new mathematical model is derived to analyse the effect of tolerances on the position of the end-effector of a 3-RPR planar parallel manipulator. The obtained results are verified by CAD model approach. The proposed approach is applied for different positions of the end effector in the linear actuator limit. Different combinations of tolerances are considered, and an effort is made to estimate the maximum error that occurred by varying the input displacement.
AB - The positional error analysis of the 3-RPR (R-Revolute, P-Prismatic) planar parallel manipulator under the effect of link tolerances is presented. In this research, a new mathematical model is derived to analyse the effect of tolerances on the position of the end-effector of a 3-RPR planar parallel manipulator. The obtained results are verified by CAD model approach. The proposed approach is applied for different positions of the end effector in the linear actuator limit. Different combinations of tolerances are considered, and an effort is made to estimate the maximum error that occurred by varying the input displacement.
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U2 - 10.1016/j.matpr.2022.02.412
DO - 10.1016/j.matpr.2022.02.412
M3 - Article
AN - SCOPUS:85128591378
SN - 2214-7853
VL - 62
SP - 1526
EP - 1531
JO - Materials Today: Proceedings
JF - Materials Today: Proceedings
ER -