Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances

Sidhant Barai; Ankur Jaiswal; Kshetrimayum Lochan

doi:10.1016/j.matpr.2022.02.412

Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances

Sidhant Barai
, Ankur Jaiswal^*
, Kshetrimayum Lochan

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	1526-1531
Number of pages	6
Journal	Materials Today: Proceedings
Volume	62
DOIs	https://doi.org/10.1016/j.matpr.2022.02.412
Publication status	Published - 01-2022

All Science Journal Classification (ASJC) codes

General Materials Science

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10.1016/j.matpr.2022.02.412

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title = "Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances",

abstract = "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.",

author = "Sidhant Barai and Ankur Jaiswal and Kshetrimayum Lochan",

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AU - Jaiswal, Ankur

AU - Lochan, Kshetrimayum

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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EP - 1531

JO - Materials Today: Proceedings

JF - Materials Today: Proceedings

ER -

Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances

Abstract

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