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Computational Kinematics pp 315–322Cite as

Error Modelling and Sensitivity Analysis of a Planar 3-PRP Parallel Manipulator

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

This paper presents an analytical error prediction model of a 3PRP planar parallel manipulator using the screw theory. This analytical approach is used to find the effect of mechanical inaccuracies contributing to the end-effector pose errors and their sensitivity coefficients. Finally, parameter sensitivity analysis of non-compensable errors of two different configurations based on their fixed base shape namely Δ-shape and U-shape fixed bases are analysed and compared.

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References

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Acknowledgments

This research was supported and funded in part by the Council of Scientific & Industrial Research (CSIR) India, (22(0698)/15/EMR-II/5767).

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Authors and Affiliations

  1. Mechanical Engineering, Indian Institute of Technology (IIT) Indore, Indore, 453552, India

    Jayant K. Mohanta & Santhakumar Mohan

  2. Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, 52072, Germany

    Mathias Huesing & Burkhard Corves

Authors
  1. Jayant K. Mohanta
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  2. Santhakumar Mohan
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  3. Mathias Huesing
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  4. Burkhard Corves
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Corresponding author

Correspondence to Santhakumar Mohan .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

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Mohanta, J.K., Mohan, S., Huesing, M., Corves, B. (2018). Error Modelling and Sensitivity Analysis of a Planar 3-PRP Parallel Manipulator. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_36

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  • DOI: https://doi.org/10.1007/978-3-319-60867-9_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

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