Abstract

The role of mechanisms in robotics is pivotal in deciding the accuracy and working range of a particular robot. A planar closed loop, single degree of freedom (DoF) mechanism can be used in various machines. The main advantage of such mechanism is the single input that can control the complete mechanical movement. Position of the end effector in real time depends on various factors. A P3R mechanism has been considered in this paper. A detailed position and compensation analysis is carried out and the effect of joint clearances are considered. The orientation of input and output links under the effect of joint clearances and their deviation and errors are calculated. A mathematical computer model is developed to compute the positional and orientation error.

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