Comparison of 3-PP̲R parallel planar manipulators based on their sensitivity to joint clearances

Author

Binaud, Nicolas ; Caro, Stéphane ; Bai, Shaoping ; Wenger, Philippe

Author_Institution

Cybernetique de Nantes, Inst. de Rech. en Commun., Nantes, France

fYear

2010

fDate

18-22 Oct. 2010

Firstpage

2778

Lastpage

2783

Abstract

In this paper, 3-PPR planar parallel manipulators with D- or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex quadratically constrained quadratic programs are formulated in order to find the maximum reference-point position error and the maximum orientation error of the moving-platform for given joint clearances. Finally, the contributions of the paper are highlighted by means of a comparative study of two manipulators.

Keywords

manipulator kinematics; quadratic programming; error prediction model; joint clearance; kinematic sensitivity; maximum orientation error; nonconvex quadratically constrained quadratic program; parallel planar manipulator; position error;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Conference_Location

Taipei

ISSN

2153-0858

Print_ISBN

978-1-4244-6674-0

Type

conf

DOI

10.1109/IROS.2010.5649455

Filename

5649455