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Technical Brief

Comparison of Open Chain and Closed Chain Planar Two Degree of Freedom Manipulator for Positional Error

[+] Author and Article Information
H. P. Jawale

Assistant Professor
Department of Mechanical Engineering,
Visvesvaraya National Institute of Technology,
Nagpur 440010,India
e-mail: j.hemanth@rediffmail.com

H. T. Thorat

Professor
Department of Mechanical Engineering,
Visvesvaraya National Institute of Technology,
Nagpur 440010,India
e-mail: htthorat@yahoomail.com

1Present address: Director, NIT Uttarakhand, India.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 23, 2012; final manuscript received August 23, 2013; published online February 20, 2014. Assoc. Editor: Qiaode Jeffrey Ge.

J. Mechanisms Robotics 6(2), 024501 (Feb 20, 2014) (7 pages) Paper No: JMR-12-1035; doi: 10.1115/1.4026329 History: Received March 23, 2012; Revised August 23, 2013

Open chain and closed chain manipulators are designed for specific objectives. Closed chain five bar manipulator is possible to be configured as a substitute to an open chain two degree of freedom (DoF) manipulator. Positional accuracy is one of the factors for performance evaluation, characterizing suitability of a configuration over the other. Present paper attempts comparative analysis of positional inaccuracy of closed chain five bar manipulator and serial chain configuration. Both manipulators are modeled for positional deviations under identical specifications considering randomness due to joint clearances and backlash in drive. The maximum positional inaccuracy is expressed in terms of dimensionless number as error index (EI) to estimate the comparative behavior of the manipulators. Positional error under influence of backlash and clearances is quantified. Comparison of two configurations is presented and conditional superiority of a configuration over the other is commented using geometric approach.

Copyright © 2014 by ASME
Topics: Chain , Errors , Manipulators
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Figures

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Fig. 1

(a) A closed chain and (b) serial link two-DoF planar manipulator with identical workspace

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Fig. 2

End effector positions under error sources for (a) closed chain manipulator (b) serial link manipulator

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Fig. 3

Effect of backlash on positional error in serial link and closed chain manipulator at input drive 1

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Fig. 4

Effect of backlash on positional error in serial link and closed chain manipulator at input drive 2

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Fig. 5

Effect of backlash on positional error in serial link and closed chain manipulator at both input drives

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Fig. 6

Comparative positional error in closed chain manipulator over workspace under backlash at (a) input drive 1, (b) input drive 2, and (c) combined

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Fig. 7

Effect of drive clearance at first input link for serial link and closed chain configuration

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Fig. 8

Effect of joint clearance at second input link in serial link and closed chain configurations over workspace

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Fig. 9

Combined effect of drive clearance at both input links on serial link and closed chain manipulator over workspace

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Fig. 10

Difference of positional error in closed chain manipulator over workspace under clearance at (a) input drive 1 (b) input drive 2, and (c) combined effect

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Fig. 11

Combined effects of drive clearance and backlash at both input links in serial link and closed chain manipulator

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Fig. 12

Difference of positional error in closed chain manipulator over workspace under backlash and clearance at input drive 1 and 2

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Fig. 13

Effect of drive inaccuracy at active joints and clearances at passive joints in closed chain configuration

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Fig. 14

Comparative positional error under clearances in serial and closed chain configuration on scaling link lengths

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Fig. 15

Comparative positional error in under backlash in serial link and closed chain manipulator on scaling link lengths

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Fig. 16

Comparative positional error under backlash and clearances in (a) serial link, and (b) closed chain manipulator on scaling link lengths

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