Sensitivity Analysis of 3-RPR Planar Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
Sensitivity Analysis of 3-rpr Planar Parallel Manipulators
ABSTRACT 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 m...
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A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced to the solution of a 3-degree polynomial and a quadratic equation in sequence. The singularities are calculated and plotted in the joint space. The second-o...
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ABSTRACT: This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators. First, the manipulators under study as well as their degeneracy conditions are presented. Then, an optimization problem is formulated in order to obtain their maximal regular dexterous workspace. Moreover, the sensitivity coefficients of the pose of the manipulator moving platform to variations in th...
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ژورنال
عنوان ژورنال: Journal of Mechanical Design
سال: 2009
ISSN: 1050-0472,1528-9001
DOI: 10.1115/1.4000216