Sensitivity Analysis of Degenerate and Non-Degenerate Planar Parallel Manipulators

  • Nicolas Binaud
  • Stéphane Caro
  • Philippe Wenger


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.


Sensitivity analysis Degenerate manipulators Regular dextrous workspace Dexterity 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Nicolas Binaud
    • 1
  • Stéphane Caro
  • Philippe Wenger
  1. 1.Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS °6597 1 rue de la NoëFrance

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