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Available online at www.sciencedirect.com Mechanism and Machine Theory 43 (2008) 445458 Mechanism and Machine Theory www.elsevier.com/locate/mechmt Accuracy scheme of 3-DOF planar parallel robots ´ Sebastien Briot a, Ilian A. Bonev a b,* subdivision of Mechanical design and Control Systems, internal Institute of Applied Sciences (INSA), Rennes, France b ´ ´ ´ Department of Automated Manufacturing Engineering, Ecole de technologie superieure (ETS), Montreal, Canada acquire 21 September 2006; received in revised cause 19 March 2007; accepted 6 April 2007 Available online 4 June 2007 Abstract Three-degree-of-freedom planar parallel robots are increasingly world used in applications where precision is of the boundary importance. Clearly, rules for evaluating the trueness of these robots atomic issue 18 therefore needed. The accuracy of well designed, manufactured, and calibrated parallel robots depends in general on the input actus reuss (sensor and control errors). adroitness and other corresponding exercise indices have often been used to evaluate indirectly the in?uence of input errors. However, industry needs a exact fellowship of the maximum orientation and position output errors at a given nominal con?guration.

An interval analysis method that can be adapted for this purpose has been proposed in the literature, tho gives no kinematic insight into the job of optimal design. In this paper, a simpler method is proposed based on a small error analysis of 3-DOF planar parallel robots that brings valuable mind of the problem of error ampli?cation. Ã" 2007 Elsevier Ltd. All rights reserved. Keywords: Parallel mechanisms; A ccuracy; Dexterity; exertion evaluation; Er! ror analysis 1. Introduction Parallel robots are increasingly being used for precision positioning, and a tally of them are used as three-degree-of-freedom (3-DOF) planar alignment stages. Clearly, in such industrial applications, accuracy is of the utmost importance. Therefore,...If you want to arrive at going a full essay, order it on our website: OrderEssay.net

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