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

Binaud, Nicolas; Caro, Stéphane; Wenger, Philippe

doi:10.1007/s11012-010-9390-0

Cited by 21 publications

(15 citation statements)

References 27 publications

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“…Saadatzi et al [28], by means of several illustrative examples, investigated the physical meaning of the kinematic sensitivity through different combinations of the Euclidean and infinity norms. The kinematic sensitivity indices have been applied on variety of robots such as 3-RPR planar parallel manipulator [1,5] and 3-UPU parallel mechanism [11].…”

Section: Introductionmentioning

confidence: 99%

A statistical weighted method for kinematic sensitivity analysis of parallel robots

Mehrafrooz

Mohammadi

Masouleh

2018

J Braz. Soc. Mech. Sci. Eng.

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Many efforts have been devoted to propose effective methods and indices of kinematic sensitivity, but all of them have considered equal proportion of errors in the actuated joint coordinates and generally entail several drawbacks. Therefore, all of previous studies conducted in the literature ignored the difference in sensitivity of manipulator to the active joints uncertainties. Solving this issue requires a deep understanding of mathematical modeling of kinematic sensitivity and its interpretations. In this paper, a synergy between kinematic concepts and statistics approaches is employed in order to propose a more reasonable index for the kinematic performance measurement of the robotic mechanical systems, with a more emphasis on parallel mechanisms.To this end, from kinematic stand point, the kinematic sensitivity is adopted as kinematic index performance. In turn, the so-called Sobol's method is used as the statistics framework of this paper. To do so, first, weighted kinematic sensitivity is introduced and its mathematical formulation is presented. Then, the application of the proposed method is illustrated by implementing the proposed method on two case studies, namely 3-RPR and 6-DOF Gough-Stewart parallel robots. Weighted kinematic sensitivity is calculated over the robot workspace, and consequently, weighted kinematic sensitivity and conventional methods and indices are compared. From the obtained results, it can be inferred that conventional methods predict sensitivity more conservative and the proposed method is more realistic and closer to the reality.

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Section: Introductionmentioning

confidence: 99%

A statistical weighted method for kinematic sensitivity analysis of parallel robots

Mehrafrooz

Mohammadi

Masouleh

2018

J Braz. Soc. Mech. Sci. Eng.

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“…Some of the other studies on the dynamics of parallel manipulators are presented in (Zhang et al 2012;Wu et al 2010;Zhao and Gao 2009). Binaud et al (2011) compared two non-degenerate and two degenerate 3-RPR planar parallel manipulators with regard to their dexterity, workspace size and sensitivity. The authors of (El-Khasawneh and Alazzam 2013) carried out the forward and inverse kinematic and dynamic analysis of this manipulator.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Performance Evaluation of Serial and Parallel RPR Manipulators with Flexible Intermediate Links

Ebrahimi

Eshaghiyeh-Firoozabadi

2016

Iran J Sci Technol Trans Mech Eng

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This paper presents a comprehensive study of the workspace, dynamic characteristics and accuracy of three planar flexible manipulators with 3-RPR, 2-RPR and 1-RPR structures moving at high speed. A geometrical procedure is employed to obtain the workspaces of the manipulators. The flexible intermediate links are modeled as the Euler-Bernoulli beams with fixed-free boundary conditions based on the assumed mode method. Using the Lagrange multipliers, a generalized set of differential algebraic equations of motion is developed for the planar RPR manipulators. Three moving constraints, which are obtained from an inverse kinematics analysis and applied to the actuated base joints, impose the end-effector to follow a high-speed circular motion as the desired trajectory. From this analysis, the dynamic performance of 1-RPR flexible serial manipulator and 2-RPR and 3-RPR flexible parallel manipulators in tracking a desired trajectory is evaluated. Based on the results, it is concluded that, in addition to the specific structure of the manipulator, the accuracy generally depends on the operation conditions. The results contest the general assertion which claims that parallel manipulators have more accuracy and stiffness than serial counterparts.

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“…In particular, 3-DoF parallel mechanisms (3-PM), which provide the platform with a pure translation, a pure rotation, or a both movements have been studied in the literature. [1][2][3][4][5] The pose error (position and orientation) of parallel manipulators can be generated by the uncertainties of the design parameters, [6][7][8] joint clearances, [9][10][11][12][13][14][15] or both of them. 16,17 These errors can alter the precision of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

“…Wang et al 18 proposed a probabilistic method to analyze the influence of design parameters variation on the position and orientation of the 3-UPU parallel manipulator. Binaud et al 8 proposed a sensitivity analysis of the 3-RPR planar parallel manipulator. The sensitivity coefficients of the pose of the moving platform to the variations of the geometric parameters are expressed analytically.…”

Section: Introductionmentioning

confidence: 99%

Sensitivity analysis and prediction of the orientation error of a three translational parallel manipulator

Chebbi

Chouaibi

Affi

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper deals with the sensitivity analysis and the prediction of the orientation error limits of a three-DoF translational parallel manipulator (3-TPM). An analytical model relating the robot accuracy to the design parameters uncertainties, the joints clearances, the nominal pose, and the external load is developed. Based on this model, an analytical sensitivity analysis is performed to show the influence of each parameter on the orientation error. An algorithm based on the interval analysis is used to predict the bounds of the translator orientation error. Using the RAF robot as an example, it is shown that the pin length of the revolute joint, the width of the parallelogram structure and the radial clearance in the revolute joints are the most influential parameters on the orientation error of the manipulator. Moreover, one of the main results of this analysis is that an increase of the tolerances on certain parameters does not necessarily lead to an increase of the orientation error of the robot, for this specific example.

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

Cited by 21 publications

References 27 publications

A statistical weighted method for kinematic sensitivity analysis of parallel robots

A statistical weighted method for kinematic sensitivity analysis of parallel robots

Dynamic Performance Evaluation of Serial and Parallel RPR Manipulators with Flexible Intermediate Links

Sensitivity analysis and prediction of the orientation error of a three translational parallel manipulator

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