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CORR
2007
Springer

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine

13 years 3 months ago
Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic analysis method is used to have a rough idea of the influence of the dimensional variations on the location of the end-effector. Besides, this method shows that variations in the design parameters of the same type from one leg to the other have the same influence on the end-effector. However, this method does not take into account the variations in the parallelograms. Thus, a differential vector method is used to study the influence of the dimensional and angular variations in the parts of the manipulator on the position and orientation of the end-effector, and particularly the influence of the variations in the parallelograms. It turns out that the kinematic isotropic configuration of the manipulator is the least sensitive one to its ...
Stéphane Caro, Philippe Wenger, Fouad Benni
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2007
Where CORR
Authors Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat
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