Sensitivity Analysis of 3-RPR Planar Parallel Manipulators

被引：50
|
作者：
Caro, Stephane [1 ]
Binaud, Nicolas [1 ]
Wenger, Philippe [1 ]
机构：
[1] Inst Rech Commun & Cybernet Nantes, CNRS, UMR 6597, F-44321 Nantes, France
来源：
JOURNAL OF MECHANICAL DESIGN | 2009年 / 131卷 / 12期
关键词：
MECHANISMS; DESIGN; SINGULARITY; KINEMATICS; OPTIMIZATION; WORKSPACE;
D O I：
10.1115/1.4000216
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators (PPMs). First, the sensitivity coefficients of the pose of the manipulator moving platform to variations in the geometric parameters and in the actuated variables are expressed algebraically. Moreover, two aggregate sensitivity indices are determined, one related to the orientation of the manipulator moving platform and another one related to its position. Then, a methodology is proposed to compare 3-RPR PPMs with regard to their dexterity, workspace size and sensitivity. Finally, the sensitivity of a 3-RPR PPM is analyzed in detail and four 3-RPR PPMs are compared as illustrative examples. [DOI: 10.1115/1.4000216]
引用
收藏
页码：1210051 / 12100513
页数：13
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