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.
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