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| Title: | Error modelling and sensitivity analysis of a planar 3-PRP parallel manipulator |
| Authors: | Mohan, Santhakumar |
| Keywords: | Computation theory;Errors;Flexible manipulators;Kinematics;Manipulators;Analytical approach;Analytical errors;Mechanical inaccuracies;Parallel manipulators;Parameter sensitivity analysis;Planar parallel manipulators;Screw theory;Sensitivity coefficient;Sensitivity analysis |
| Issue Date: | 2018 |
| Publisher: | Springer Netherlands |
| Citation: | Mohanta, J. K., Mohan, S., Huesing, M., & Corves, B. (2018). Error modelling and sensitivity analysis of a planar 3-PRP parallel manipulator doi:10.1007/978-3-319-60867-9_36 |
| Abstract: | 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. |
| URI: | https://doi.org/10.1007/978-3-319-60867-9_36 https://dspace.iiti.ac.in/handle/123456789/6801 |
| ISBN: | 9783319608662 |
| ISSN: | 2211-0984 |
| Type of Material: | Conference Paper |
| Appears in Collections: | Department of Mechanical Engineering |
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