Optimum dynamic balancing of planar parallel manipulators based on sensitivity analysis

2006 ◽  
Vol 41 (12) ◽  
pp. 1520-1532 ◽  
Author(s):  
Gursel Alici ◽  
Bijan Shirinzadeh
Keyword(s):  
Sensitivity Analysis ◽  
Parallel Manipulators ◽  
Dynamic Balancing ◽  
Planar Parallel Manipulators

scholarly journals Sensitivity Analysis of 3-RPR Planar Parallel Manipulators

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Stéphane Caro ◽  
Nicolas Binaud ◽  
Philippe Wenger
Keyword(s):  
Sensitivity Analysis ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Sensitivity Coefficients ◽  
Sensitivity Indices ◽  
Moving Platform ◽  
Planar Parallel Manipulators

This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators (PPMs). First, 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. Moreover, two aggregate sensitivity indices are determined, one related to the orientation of the manipulator moving platform and another one related to its position. Then, a methodology is proposed to compare 3-RPR PPMs with regard to their dexterity, workspace size and sensitivity. Finally, the sensitivity of a 3-RPR PPM is analyzed in detail and four 3-RPR PPMs are compared as illustrative examples.

On the Development of Reactionless Parallel Manipulators

2000 ◽  
Author(s):  
Rémi Ricard ◽  
Clément M. Gosselin
Keyword(s):  
Parallel Manipulators ◽  
Dynamic Balancing ◽  
Planar Parallel Manipulators

Abstract This article presents a method for the complete dynamic balancing of 3-dof planar parallel manipulators. The method is based on the use of special legs constructed with modules based on dynamically balanced four-bar linkages. First, different families of dynamically balanced four-bar linkages are established. Then, examples of the different families of four-bar linkages are given as well as examples of 3-dof planar reactionless parallel manipulators.

Sensitivity Analysis of Planar Parallel Manipulators

2008 ◽  
Author(s):  
Ste´phane Caro ◽  
Nicolas Binaud ◽  
Philippe Wenger
Keyword(s):  
Sensitivity Analysis ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Sensitivity Coefficients ◽  
Planar Parallel Manipulator ◽  
Moving Platform ◽  
Conditioning Number ◽  
Planar Parallel Manipulators

This paper deals with the sensitivity analysis of planar parallel manipulators. A methodology is introduced to derive the sensitivity coefficients by means of the study of 3-RPR manipulators. As a matter of fact, the sensitivity coefficients of the pose of its moving platform to variations in the geometric parameters are expressed algebraically, the variations being defined both in Polar and Cartesian coordinates. The dexterity of the manipulator is also studied by means of the conditioning number of its normalized kinematic Jacobian matrix. As an illustrative example, the sensitivity of a symmetrical planar parallel manipulator is analyzed in detail. Finally, the accuracy of the manipulator is compared with its dexterity.

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