Sensitivity Analysis of Degenerate and Non-Degenerate Planar Parallel Manipulators
This paper deals with the sensitivity analysis of degenerate and nondegenerate 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 dextrous workspace. Finally, the sensitivity of the pose of their moving platform to variations in the geometric parameters is analyzed.
KeywordsSensitivity analysis Degenerate manipulators Regular dextrous workspace Dexterity
Unable to display preview. Download preview PDF.
- 1.Wenger, P., Gosselin, C., and Maillé, B., 1999, “A Comparative Study of Serial and Parallel Mechanism Topologies for Machine Tool,” Int. Workshop on Parallel Kinematic Machines, Milan, Italie, pp. 23–35.Google Scholar
- 2.Wang, J., and Masory, O., 1993, “On the accuracy of a Stewart platform - Part I, The effect of manufacturing tolerances,” In: Proceedings of the IEEE International Conference on Robotics Automation, ICRA’93, Atlanta, USA, pp. 114–120.Google Scholar
- 6.Caro, S., Binaud, N., and Wenger, P., 2008, “Sensitivity Analysis of Planar Parallel Manipulators,” ASME Proc. of International Design Engineering Technical Conferences, New York City, August.Google Scholar
- 10.Pennock G.R., and Kassner D.J., 1990, “Kinematic Analysis of a Planar Eight-bar Linkage: Application to a Platform-Type Robot,” ASME Proc. of the 21th Biennial Mechanisms Conf., pp. 37–43, Chicago, September.Google Scholar