Sensitivity Comparison of Planar Parallel Manipulators
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چکیده
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Comparison of 3-rpr Planar Parallel Manipulators with Regard to Their Kinetostatic Performance and Sensitivity to Geometric Uncertainties
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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