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

Sidhant Barai, Ankur Jaiswal, Kshetrimayum Lochan

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Pages (from-to)1526-1531
Number of pages6
JournalMaterials Today: Proceedings
Volume62
DOIs
Publication statusPublished - 01-2022

All Science Journal Classification (ASJC) codes

  • Materials Science(all)

Fingerprint

Dive into the research topics of 'Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances'. Together they form a unique fingerprint.

Cite this