Closed chain mechanisms are used as robotic manipulators with special features. A planar two-DOF closed loop mechanism provides desired position of an end effecter in a confined workspace with two input motions. Position of end effecter depends on various factors including joint clearance. Positional accuracy forms important parameter for kinematic analysis of mechanism. This paper presents simple approach for quantifying error due to joint clearance in a two-DOF mechanism. Generalized scheme for positional deviation with and without clearance at joint is presented. Orientation of clearance links for maximum positional error is identified. Error at various positions is quantified in relation with clearance link length. Computer programming is used as a tool to workout positional analysis of mechanism. Results show that error is independent of magnitude of clearance, however, a function of location of end effecter in workspace.
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e-mail: hemant_jawale@rediffmail.com
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February 2012
Research Papers
Investigation of Positional Error in Two Degree of Freedom Mechanism With Joint Clearance
H. P. Jawale,
H. P. Jawale
Assistant Professor
Department of Mechanical Engineering,
e-mail: hemant_jawale@rediffmail.com
Visvesvaraya National Institute of Technology
, Nagpur 440010, India
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H. T. Thorat
H. T. Thorat
Professor
Department of Mechanical Engineering,
e-mail: htthorat@yahoo.com
Visvesvaraya National Institute of Technology
, Nagpur 440010, India
Search for other works by this author on:
H. P. Jawale
Assistant Professor
Department of Mechanical Engineering,
Visvesvaraya National Institute of Technology
, Nagpur 440010, India
e-mail: hemant_jawale@rediffmail.com
H. T. Thorat
Professor
Department of Mechanical Engineering,
Visvesvaraya National Institute of Technology
, Nagpur 440010, India
e-mail: htthorat@yahoo.com
J. Mechanisms Robotics. Feb 2012, 4(1): 011002 (7 pages)
Published Online: February 3, 2012
Article history
Received:
February 3, 2010
Accepted:
November 14, 2011
Online:
February 3, 2012
Published:
February 3, 2012
Citation
Jawale, H. P., and Thorat, H. T. (February 3, 2012). "Investigation of Positional Error in Two Degree of Freedom Mechanism With Joint Clearance." ASME. J. Mechanisms Robotics. February 2012; 4(1): 011002. https://doi.org/10.1115/1.4005523
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