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The Infinitesimal Burmester Lines in Spatial Movement Read chapter Read first chapter

2015 | OriginalPaper | Chapter

On the Accuracy Analyses of a Class of 2-DOF Planar Parallel Manipulators

Authors : Mümin Özsipahi, Eres Söylemez

Published in: Mechanisms, Transmissions and Applications

Publisher: Springer International Publishing

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Abstract

This study is about the accuracy analysis of two degrees of freedom planar parallel manipulators consisting of five links (one of which is fixed) that are connected to each other with five revolute (R) or prismatic (P) joints. Among these manipulators, topologically RRRRR, PRRRP, RPRPR planar parallel manipulators are selected. Accuracy analysis is a common method to evaluate the performance of parallel manipulators. In this study, accuracy analysis of these planar parallel manipulators is presented by using local conditioning index and maximum positional error methods. For each of the manipulators, mathematical expressions for the local conditioning index and maximum positional errors are derived. These expressions are implemented using Matlab© environment and examples are presented to show the accuracy distributions over the workspace. The consistency between local conditioning index and maximum positional error is discussed.

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previous chapter Kinematic Analysis of 3 RSS+CP Parallel Mechanisms
next chapter Determination of Linkage Parameters from Coupler Curve Equations
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Metadata
Title
On the Accuracy Analyses of a Class of 2-DOF Planar Parallel Manipulators
Authors
Mümin Özsipahi
Eres Söylemez
Copyright Year
2015
Book
Mechanisms, Transmissions and Applications

Print ISBN: 978-3-319-17066-4

Electronic ISBN: 978-3-319-17067-1

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-17067-1_5

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