Comparison of 3-RPR Planar Parallel Manipulators with regard to their Dexterity and Sensitivity to Geometric Uncertainties

Nicolas Binaud (1) , Stéphane Caro (1) , Philippe Wenger (1)

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

This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators. First, the manipulators under study as well as their degeneracy conditions are presented. Then, an optimization problem is formulated in order to obtain their maximal regular dexterous workspace. Moreover, 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. Two aggregate sensitivity indices are determined, one related to the orientation of the manipulator moving platform and another one related to its position. Then, we compare two non-degenerate and two degenerate 3-R\underline{P}R planar parallel manipulators with regard to their dexterity, workspace size and sensitivity. Finally, two actuating modes are compared with regard to their sensitivity.

Mots clés: Sensitivity analysis; degenerate manipulators; regular dextrous workspace; transmission angle

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Nicolas Binaud, Stéphane Caro, Philippe Wenger. Comparison of 3-RPR Planar Parallel Manipulators with regard to their Dexterity and Sensitivity to Geometric Uncertainties. Meccanica, 2011, 46 (14), pp.75-88. ⟨10.1007/s11012-010-9390-0⟩. ⟨hal-00833524⟩