Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance

Ankur Jaiswal; Sidhant Barai; Abhishek Jha; Darren Alton Dsouza; Ankit Aggarwal

doi:10.1007/978-981-97-5423-6_61

Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance

Ankur Jaiswal^*
, Sidhant Barai
, Abhishek Jha
, Darren Alton Dsouza
, Ankit Aggarwal

^*Corresponding author for this work

Manipal Institute of Technology, Manipal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The parallel mechanisms are mostly used in industrial and robotics applications for achieving desired tasks. The performance of the mechanism depends upon the many parameters like link joint clearance and manufacturing defects. A new mathematical model is developed for the analysis of linear input (prismatic joint) mechanisms under the effects of joint clearance. This paper presents the loop closure equation used for estimating the mechanical/position error due to the effect of link tolerances. The results evaluate the position error using a mathematical approach. The results are validated by the CAD model approach. The demonstrated case is illustrated in this paper.

Original language	English
Title of host publication	Recent Advances in Machines, Mechanisms, Materials and Design - Select Proceedings of iNaCoMM 2023
Editors	Rajana Suresh Kumar, Shubhashis Sanyal, P.M. Pathak
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	767-778
Number of pages	12
ISBN (Print)	9789819754229
DOIs	https://doi.org/10.1007/978-981-97-5423-6_61
Publication status	Published - 2024
Event	6th International and 21st National Conference on Machines and Mechanisms, iNaCoMM 2023 - Raipur, India Duration: 07-12-2023 → 09-12-2023

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	6th International and 21st National Conference on Machines and Mechanisms, iNaCoMM 2023
Country/Territory	India
City	Raipur
Period	07-12-23 → 09-12-23

All Science Journal Classification (ASJC) codes

Automotive Engineering
Aerospace Engineering
Mechanical Engineering
Fluid Flow and Transfer Processes

Access to Document

10.1007/978-981-97-5423-6_61

Cite this

Jaiswal, A., Barai, S., Jha, A., Dsouza, D. A., & Aggarwal, A. (2024). Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance. In R. S. Kumar, S. Sanyal, & P. M. Pathak (Eds.), Recent Advances in Machines, Mechanisms, Materials and Design - Select Proceedings of iNaCoMM 2023 (pp. 767-778). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-5423-6_61

Jaiswal, Ankur ; Barai, Sidhant ; Jha, Abhishek et al. / Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance. Recent Advances in Machines, Mechanisms, Materials and Design - Select Proceedings of iNaCoMM 2023. editor / Rajana Suresh Kumar ; Shubhashis Sanyal ; P.M. Pathak. Springer Science and Business Media Deutschland GmbH, 2024. pp. 767-778 (Lecture Notes in Mechanical Engineering).

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title = "Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance",

abstract = "The parallel mechanisms are mostly used in industrial and robotics applications for achieving desired tasks. The performance of the mechanism depends upon the many parameters like link joint clearance and manufacturing defects. A new mathematical model is developed for the analysis of linear input (prismatic joint) mechanisms under the effects of joint clearance. This paper presents the loop closure equation used for estimating the mechanical/position error due to the effect of link tolerances. The results evaluate the position error using a mathematical approach. The results are validated by the CAD model approach. The demonstrated case is illustrated in this paper.",

author = "Ankur Jaiswal and Sidhant Barai and Abhishek Jha and Dsouza, \{Darren Alton\} and Ankit Aggarwal",

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Jaiswal, A, Barai, S, Jha, A, Dsouza, DA & Aggarwal, A 2024, Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance. in RS Kumar, S Sanyal & PM Pathak (eds), Recent Advances in Machines, Mechanisms, Materials and Design - Select Proceedings of iNaCoMM 2023. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 767-778, 6th International and 21st National Conference on Machines and Mechanisms, iNaCoMM 2023, Raipur, India, 07-12-23. https://doi.org/10.1007/978-981-97-5423-6_61

Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance. / Jaiswal, Ankur; Barai, Sidhant; Jha, Abhishek et al.
Recent Advances in Machines, Mechanisms, Materials and Design - Select Proceedings of iNaCoMM 2023. ed. / Rajana Suresh Kumar; Shubhashis Sanyal; P.M. Pathak. Springer Science and Business Media Deutschland GmbH, 2024. p. 767-778 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance

AU - Jaiswal, Ankur

AU - Barai, Sidhant

AU - Jha, Abhishek

AU - Dsouza, Darren Alton

AU - Aggarwal, Ankit

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

PY - 2024

Y1 - 2024

N2 - The parallel mechanisms are mostly used in industrial and robotics applications for achieving desired tasks. The performance of the mechanism depends upon the many parameters like link joint clearance and manufacturing defects. A new mathematical model is developed for the analysis of linear input (prismatic joint) mechanisms under the effects of joint clearance. This paper presents the loop closure equation used for estimating the mechanical/position error due to the effect of link tolerances. The results evaluate the position error using a mathematical approach. The results are validated by the CAD model approach. The demonstrated case is illustrated in this paper.

AB - The parallel mechanisms are mostly used in industrial and robotics applications for achieving desired tasks. The performance of the mechanism depends upon the many parameters like link joint clearance and manufacturing defects. A new mathematical model is developed for the analysis of linear input (prismatic joint) mechanisms under the effects of joint clearance. This paper presents the loop closure equation used for estimating the mechanical/position error due to the effect of link tolerances. The results evaluate the position error using a mathematical approach. The results are validated by the CAD model approach. The demonstrated case is illustrated in this paper.

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Jaiswal A, Barai S, Jha A, Dsouza DA, Aggarwal A. Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance. In Kumar RS, Sanyal S, Pathak PM, editors, Recent Advances in Machines, Mechanisms, Materials and Design - Select Proceedings of iNaCoMM 2023. Springer Science and Business Media Deutschland GmbH. 2024. p. 767-778. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-97-5423-6_61

Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance

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All Science Journal Classification (ASJC) codes

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