, Volume 46, Issue 1, pp 75–88 | Cite as

Comparison of 3-RPR planar parallel manipulators with regard to their kinetostatic performance and sensitivity to geometric uncertainties

  • Nicolas Binaud
  • Stéphane Caro
  • Philippe Wenger
Parallel Manipulators


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 the geometric parameters and in the actuated variables are expressed algebraically. Two aggregate sensitivity indices are determined, one related to the orientation of the manipulator moving platform and another one related to its position. Then, we compare two non-degenerate and two degenerate 3-RPR planar parallel manipulators with regard to their dexterity, workspace size and sensitivity. Finally, two actuating modes are compared with regard to their sensitivity.


Sensitivity analysis Degenerate manipulators Regular dextrous workspace Transmission angle 


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Nicolas Binaud
    • 1
  • Stéphane Caro
    • 1
  • Philippe Wenger
    • 1
  1. 1.UMR CNRS n° 6597Institut de Recherche en Communications et Cybernétique de NantesNantesFrance

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