Performance Evaluation of 3-RRPaR Parallel Manipulator in Pick and place Operation
DOI:
https://doi.org/10.21063/jtm.2025.v15.i1.1-7Kata Kunci:
Parallel Manipulator, 3-RRPaR, Pick and place, Positioning Accuracy, Stepper Motor ControlAbstrak
This study evaluates the performance of a 3-RRPaR parallel manipulator designed to perform pick-and-place operations. The manipulator consists of three actuators driven by stepper motors, which are controlled through a G-code interface using Universal G-Code Sende.. Motion commands are input via a computer, enabling the robot to follow predefined trajectories. During testing, the manipulator was programmed to move within a circular workspace with a radius of 100 mm on the X and Y axes. The actual movement reached only 98 mm, resulting in a positioning error of approximately 2 mm. The observed inaccuracies are primarily attributed to structural inconsistencies between the upper and lower frames, unequal lengths of the passive links, and the use of a non-permanent clutch mechanism. These findings highlight the importance of mechanical precision and structural symmetry in enhancing the accuracy of parallel manipulator systems.
Referensi
[1] Anshori, D. Y. (2017). Pengendalian Posisi Sudut Joint Robot Manipulator 4 DOF (Degree of Freedom). Institut http://repository.its.ac.id/47947/
[2] Utomo, B., & Munadi. (2013). Analisa Forward dan Inverse Kinematics pada Simulator Arm Robot 5 Derajat Kebebasan. 1(3), 11–20.
[3] Wibowo, A. (2020). Prototipe Robot Manipulator Sendi Lengan (Joint-Arm) Berbasis 29 Arduino Uno Pada Sistem Pemilah Barang. In Laporan Penelitian Mandiri. http://repository.unas.ac.id/883/
[4] Murray, R. M., Li, Z., & Shankar Sastry, S. (2017). A mathematical introduction to robotic manipulation. In A Mathematical Introduction to Robotic Manipulation. https://doi.org/10.1201/9781315136370
[5] Hoang, N. Q., Boudon, B., BAE, H.-J., DANG, T. T., & Bouzgarrou, C. (2022). Modeling of parallel manipulators with flexible links and joints driven by electric actuators. Vietnam Journal of Mechanics, 44(4), 474–489. https://doi.org/10.15625/0866- 7136/17944
[6] Dermawan, Sultan, A. Z., & Muhammad, A. K. (2009). Uji Getaran Robot Manipulator Yang Bergerak Translasi Dan Rotasi. 2000, 279–286.
[7] Alfianto, M. A., Sugandi, B., & Toar, H. (2017). Kendali Lengan Robot Manipulator Menggunakan Kamera Stereo. Journal Of Applied Electrical Engineering, 1–6.
[8] Alici, G., & Shirinzadeh, B. (2005). A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing. Mechanism and Machine Theory, 40(8), 879–906.
[9] Staicu, S., & Carp-Ciocardia, D. C. (2003). Dynamic analysis of Clavel’s delta parallel robot. Proceedings - IEEE International Conference on Robotics and Automation, 3(May), 4116–4121. https://doi.org/10.1109/robot.2003.1242230
[10] Merlet, J. P. (1993). Parallel manipulators: state of the art and perspectives. Advanced Robotics, 8(6), 589–596. https://doi.org/10.1163/156855394X00275
[11] Zhang, D., & Wei, B. (2017). Modelling and optimisation of a 4-DOF hybrid robotic manipulator. International Journal of Computer Integrated Manufacturing, 30(11), 1179–1189. https://doi.org/10.1080/0951192X.2017.1305505
[12] Pandilov, Z., & Dukovski, V. (2014). Comparison of the Characteristics Between Serial and Parallel Robots. Fascicule, 1, 2067–3809.
[13] Lin, Jonqlan, Ci-Huang Luo, and Kao-Hui Lin. "Design and implementation of a new delta parallel robot in robotics competitions." International Journal of Advanced Robotic Systems 12.10 (2015): 153.
[14] Anrinal, Asmara Yanto dan Redo Kurnia Illahi, “Desain Disain Sistem Manufaktur Manipulator Paralel 3-RRPaR,” JTM - ITP, vol. 14, no.2, oktober 2024, pp. 1-7.
Unduhan
Diterbitkan
Terbitan
Bagian
Lisensi
Hak Cipta (c) 2025 Anrinal Anrinal, Muhammad Apri Zamhari, Asmara Yanto
Artikel ini berlisensiCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
