Abstract
Accounting for uncertainties in the design variables of a parallel manipulator is important for a reliable analysis of a mechanism. The design of the 3-RRR planar parallel manipulator is modelled with uncertainties. Interval analysis techniques are utilised to solve for the reachable workspace and the collision-free workspace. It is necessary to ensure that a fabricated design can achieve some desired criteria. Here, we consider generating a desired set of wrenches at the end-effector. The wrench capabilities under uncertainties are verified throughout the collision-free workspace. The results describe the set of poses which are guaranteed to be collision free and satisfy the desired wrench capabilities given the uncertainties in the specified design.
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Notes
- 1.
The symbol \(\mathscr {P}\) denotes a set of poses and the subscript refers to the relevant workspace.
- 2.
The link closest to the base with length \(r_i\).
- 3.
The link attached to the moving platform with length \(l_i\).
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Acknowledgements
The authors would like to thank the Natural Sciences and Engineering Research Council of Canada (NSERC), Mitacs, and Inria for their funding of this research.
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Pickard, J.K., Carretero, J.A., Merlet, JP. (2018). Analysis Methods for the 3-RRR with Uncertainties in the Design Parameters. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_12
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DOI: https://doi.org/10.1007/978-3-319-56802-7_12
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