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All Journal Jurnal Teknik Mesin
Randa Randa
Institut Teknologi Padang
Control & Systems Engineering Energy Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Performance Evaluation of 3-RRPaR Parallel Manipulator in Pick and place Operation Anrinal Anrinal; Randa Randa; Asmara Yanto
Jurnal Teknik Mesin Vol 15 No 1 (2025): Jurnal Teknik Mesin Vol.15 No.1 April 2025
Publisher : Lembaga Penelitian dan Pengabdian Masyarakat (LP2M) - ITP

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtm.2025.v15.i1.1-7

Abstract

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.
Co-Authors Anrinal Anrinal Asmara Yanto