Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine

Stéphane Caro (1) , Philippe Wenger (1) , Fouad Bennis (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel KinematicMachine. Two complementary methods are used to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic analysis method is used to have a rough idea of the influence of the dimensional variations on the location of the end-effector, and shows that the variations in design parameters of the same type from one leg to another one have the same influence on the endeffector. However, this method does not allow the designer to know the influence of the variations in the parallelograms. Thus, a differential vector method is used to study the influence of the dimensional and angular variations in the parts of the manipulator, and particularly the variations in the parallelograms, on the position and orientation of the end-effector. It turns out that the isotropic kinematic configuration of the manipulator is the least sensitive one to its geometrical variations, contrary to the closest configurations to its kinematic singular configurations, which are the most sensitive to geometrical variations.

Mots clés: Orthoglide; Parallel Kinematic Machine; Sensitivity Analysis; Kinematic Analysis; Kinematic Singularity

Domaines: Robotique [cs.RO]

Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat. Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine. ASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩. ⟨hal-00170102⟩