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OCTOBER 19-20, 2012 - YMCA University of Science & Technology

OCTOBER 19-20, 2012 - YMCA University of Science & Technology

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Proceedings <strong>of</strong> the National Conference on<br />

Trends and Advances in Mechanical Engineering,<br />

<strong>YMCA</strong> <strong>University</strong> <strong>of</strong> <strong>Science</strong> & <strong>Technology</strong>, Faridabad, Haryana, Oct <strong>19</strong>-<strong>20</strong>, <strong>20</strong>12<br />

Here optimization is done by Differential Evaluation method. And the results are<br />

In Figs. (11-<strong>20</strong>) curve 1 is designed curve (optimized) without considering any clearance, curve 2 is designed<br />

curve (optimized) after considering clearance and curve 3 is coupler curve before optimization considering<br />

clearance<br />

3.3. Path Errors For Joint Clearances Values<br />

The path errors obtained for different joint clearances values in the original (actual) and optimized mechanisms<br />

are shown in different figures. In figures it is shown, these errors for original (actual) mechanism are bigger than<br />

that <strong>of</strong> optimized mechanism. Here we have taken Curve 1 as desired curve, curve 2 as optimized curve and<br />

curve 3 as actual curve.<br />

Fig.11. Comparisons between curves (1, 2, 3)<br />

for clearance<br />

γ = mm and γ 1mm<br />

2 0 3 =<br />

Fig. 12. Path error in X direction and Y direction for clearance γ = mmand<br />

γ 1mm<br />

2<br />

0<br />

3<br />

=<br />

Fig.13. Comparisons between curves (1, 2, 3)<br />

253

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