文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 445–458
ate/mechmt
Accuracy analysis of 3-DOF planar parallel robots
Se´bastien Briot a, Ilian A. Bonev b,*
a Department of Mechanical Engineering and Control Systems, National Institute of Applied Sciences (INSA), Rennes, France
b Department of Automated Manufacturing Engineering, E´ cole de technologie supe´rieure (E´ TS), Montreal, Canada
Received 21 September 2006; received in revised form 19 March 2007; accepted 6 April 2007
Available online 4 June 2007
Abstract
Three-degree-of-freedom planar parallel robots are increasingly being used in applications where precision is of the
utmost importance. Clearly, methods for evaluating the accuracy of these robots are therefore needed. The accuracy of
well designed, manufactured, and calibrated parallel robots depends mostly on the input errors (sensor and control errors).
Dexterity and other similar performance indices have often been used to evaluate indirectly the influence of input errors.
However, industry needs a precise knowledge of the maximum orientation and position output errors at a given nominal
configuration. An interval analysis method that can be adapted for this purpose has been proposed in the literature, but
gives no kinematic insight into the problem of optimal design. In this paper, a simpler method is proposed based on a
detailed error analysis of 3-DOF planar parallel robots that brings valuable understanding of the problem of error
amplification.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Parallel mechanisms; Accuracy; Dexterity; Performance evaluation; Error analysis
1. Introduction
Parallel robots are increasingly being used for precision positioning, and a number of them are used as
three-degree-of-freedom (3-DOF) planar alignment stages. Clearly, in such industrial applications, accuracy
is of the utmost importance. Therefore, simple and fast methods puting the accu