| contributor author | Stéphane Caro | |
| contributor author | Nicolas Binaud | |
| contributor author | Philippe Wenger | |
| date accessioned | 2017-05-09T00:34:13Z | |
| date available | 2017-05-09T00:34:13Z | |
| date copyright | December, 2009 | |
| date issued | 2009 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27913#121005_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141287 | |
| description abstract | This paper deals with the sensitivity analysis of 3-RP R 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-RP R PPMs with regard to their dexterity, workspace size and sensitivity. Finally, the sensitivity of a 3-RP R PPM is analyzed in detail and four 3-RP R PPMs are compared as illustrative examples. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Sensitivity Analysis of 3-RP R Planar Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 131 | |
| journal issue | 12 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4000216 | |
| journal fristpage | 121005 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators AND Sensitivity analysis | |
| tree | Journal of Mechanical Design:;2009:;volume( 131 ):;issue: 012 | |
| contenttype | Fulltext | |