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Assesment of influence of play in joints on the end effector accurcay in a novel 3DOF (1T-2R) parallel manipulator

Kalas, V.J. (2016) Assesment of influence of play in joints on the end effector accurcay in a novel 3DOF (1T-2R) parallel manipulator.

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Abstract:The play in joints of mechanisms has been a major issue for mechanisms required for high accuracy applications. Although many researchers have attempted to model the same for different generic mechanisms, a lot needs to be done in this area. This report provides a brief overview of many such attempts made to assess the effects of play on the end effector accuracy in parallel mechanisms. One of the methods was then chosen, due to its robustness and closeness to our mechanism of interest, to assess a 3 DOF parallel manipulator that was developed at the Delft haptics lab to act as a haptic master device. This report also presents a brief overview of the screw theory and its applications to parallel kinematic analysis. Finally, given the time frame of the internship assignment, it was not possible to successfully implement complete modelling and hence the report summarizes the problems faced and future scope of this research.
Item Type:Internship Report (Master)
Clients:
TU Delft, the Netherlands
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
Keywords:Parallel manipulators, Screw Theory, Position accuracy
Link to this item:http://purl.utwente.nl/essays/69528
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