This paper presents the mechanical error estimation under the effects of link tolerances in a 3-degree-of-freedom (DoF) 3-RRS Spatial Parallel Manipulator (SPM). Position level kinematic analysis and workspace analysis in the form of reachable and orientation workspace are carried out initially. Then, the effect of link tolerances on individual link is studied at the position of mid-point and orientation of the movable platform. The corresponding mechanical errors are estimated. The effect of link tolerance variation is studied to know the pattern of mechanical error. The 3-D CAD model in SolidWorks is used to validate the results. The conclusions are drawn that lead to error minimization at the tolerance design stage.
Simulation of robot systems is getting very popular, especially with the lowering cost of computers. The robotic arm is presumably the most mathematically complex for the dynamic and kinematic analysis. The purpose of this paper is to build a simulation framework for a 3R robotic arm using PTC Creo Parametric 2.0 and also to identify its advantages and disadvantages for such analysis. Trajectory of the robotic arm is optimized by considering the shortest path as an objective function between the initial and final position which results in straight line motion using an effective optimization technique known as Teaching learning based optimization (TLBO). Intermediate positions of the optimized results are taken as an input for the simulation of the 3R robotic arm in PTC Creo Parametric 2.0. The results obtained by using TLBO and PTC Creo Parametric 2.0, such as angular positions, joint velocities and joint accelerations are compared based on RMS errors. The verification of the obtained results by both the methods allows us to qualitatively evaluate, underline the rightness of the chosen model and to get the right conclusions.
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