In this paper, two complementary methods are introduced to analyze the sensitivity of a three-degree-of-freedom (3-DOF) translational parallel kinematic machine (PKM) with orthogonal linear joints: the Orthoglide. Although these methods are applied to a particular PKM, they can be readily applied to 3-DOF Delta-Linear PKM such as ones with their linear joints parallel instead of orthogonal. On the one hand, a linkage kinematic analysis method is proposed to have a rough idea of the influence of the length variations of the manipulator on the location of its end-effector. On the other hand, a differential vector method is used to study the influence of the length and angular variations in the parts of the manipulator on the position and orientation of its end-effector. Besides, this method takes into account the variations in the parallelograms. It turns out that variations in the design parameters of the same type from one leg to another have the same effect on the position of the end-effector. Moreover, the sensitivity of its pose to geometric variations is a minimum in the kinematic isotropic configuration of the manipulator. On the contrary, this sensitivity approaches its maximum close to the kinematic singular configurations of the manipulator.
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March 2006
Research Papers
Sensitivity Analysis of the Orthoglide: A Three-DOF Translational Parallel Kinematic Machine
Stéphane Caro,
Stéphane Caro
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
e-mail: Stephane.Caro@irccyn.ec-nantes.fr
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, France
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Philippe Wenger,
Philippe Wenger
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, France
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Fouad Bennis,
Fouad Bennis
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, France
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Damien Chablat
Damien Chablat
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, France
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Stéphane Caro
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, Francee-mail: Stephane.Caro@irccyn.ec-nantes.fr
Philippe Wenger
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, France
Fouad Bennis
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, France
Damien Chablat
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) UMR 6597 CNRS, École Centrale de Nantes,
Université de Nantes
, École des Mines de Nantes 1, rue de la Noë-44321 Nantes, FranceJ. Mech. Des. Mar 2006, 128(2): 392-402 (11 pages)
Published Online: June 8, 2005
Article history
Received:
November 17, 2004
Revised:
June 8, 2005
Citation
Caro, S., Wenger, P., Bennis, F., and Chablat, D. (June 8, 2005). "Sensitivity Analysis of the Orthoglide: A Three-DOF Translational Parallel Kinematic Machine." ASME. J. Mech. Des. March 2006; 128(2): 392–402. https://doi.org/10.1115/1.2166852
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