TOLERANCE SYNTHESIS OF 3R PARALLEL ROBOT MANIPULATOR
M. Mallesh
Associate professor, Department of mechanical engineering, VJIT College ,Hyderabad , IN
MD.Musharaf Numan
Associate professor, Department of mechanical engineering, VJIT College ,Hyderabad , IN
G.Satish Babu
Associate professor, Department of mechanical engineering, VJIT College ,Hyderabad , IN
Keywords: robust design, tolerances, optimal, variations, sensitivity, robustness index, tolerance synthesis, 3R parallelmanipulator
Abstract
This paper focus on the tolerance synthesis of a parallel robot manipulator with 3Revolute joints. The present work deals with making the dimensions of the robot manipulator robust and compute the optimal dimensional tolerances for a given 3R parallel robot manipulator for minimising the positioning error of end effector of robot with given target.For making the dimensions robust a proper robustness index has to be chosen.Obtained robust dimensions must tolerate globally to largest variations. Then to compute the optimal dimensional tolerances from the given robust dimensions a new tolerance synthesis method developed by Stephane Caro is used .This method is known as Caro-Tolerance box method. the optimal dimensional tolerances are calculated by optimal dimensional algorithm.The values of robustness index and optimal dimensional tolerances are validated.
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