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Sensitivity Analysis and Comparison of Parallel Schonflies-Motion Robots with a Single Platform

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Indexed by:会议论文

Date of Publication:2016-12-15

Included Journals:EI、CPCI-S、Scopus

Volume:408

Page Number:155-167

Key Words:Schonflies motion; Sensitivity; Variational method; Parallelogram

Abstract:This paper deals with the sensitivity analysis of parallel Schonflies-motion robots. The influence of the kinematic parameters for the manipulator components, including the parallelogram, on the motion accuracy is studied. Sensitivity indices are defined to evaluate the influence of the geometric parameters to the manipulator end-effector. A comparative study is carried out for two robots to highlight their (dis) advantages.

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