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Error modelling and sensitivity analysis of a planar 3-PRP parallel manipulator
, S. Mohan, M. Huesing, B. Corves
Published in Springer Netherlands
Volume: 50
Pages: 315 - 322
This paper presents an analytical error prediction model of a 3PRP planar parallel manipulator using the screw theory. This analytical approach is used to find the effect of mechanical inaccuracies contributing to the end-effector pose errors and their sensitivity coefficients. Finally, parameter sensitivity analysis of non-compensable errors of two different configurations based on their fixed base shape namely ∆-shape and U-shape fixed bases are analysed and compared. © Springer International Publishing AG 2018.
About the journal
JournalData powered by TypesetMechanisms and Machine Science
PublisherData powered by TypesetSpringer Netherlands