Abstract

Closed Chain Mechanisms are popular in Automation Technology for transmitting motion under specific objective task. Single-Degree of Freedom (DoF) Four-bar chain is basic mechanisms synthesized for such applications. Joint clearances and drive backlash are inevitable in such mechanisms and introduce error in coupler positions while accomplishing the task. The present paper considers effect of joint clearances and drive backlash as error source for coupler positions in single-DoF mechanism. The deviations of desired positions and actual positions are estimated for specific objective task. Further, effect of these error sources is modelled with a higher-DoF mechanism which is kinematically better than single-DoF mechanisms. Two-DoF mechanism is modelled for identical objective task. Maximum positional deviations are estimated for two-DoF mechanism. The comparative analysis of deviation is obtained. Relative maximum positional deviation in both mechanisms is expressed in terms of dimensionless number as measure of performance.

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