Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance

The parallel mechanisms are mostly used in industrial and robotics applications for achieving desired tasks. The performance of the mechanism depends upon the many parameters like link joint clearance and manufacturing defects. A new mathematical model is developed for the analysis of linear input (prismatic joint) mechanisms under the effects of joint clearance. This paper presents the loop closure equation used for estimating the mechanical/position error due to the effect of link tolerances. The results evaluate the position error using a mathematical approach. The results are validated by the CAD model approach. The demonstrated case is illustrated in this paper.