Coping With Stress

Available online at www.sciencedirect.com Mechanism and Machine Theory 43 (2008) 445458 Mechanism and Machine Theory www.elsevier.com/locate/mechmt Accuracy digest of 3-DOF planar parallel robots ´ Sebastien Briot a, Ilian A. Bonev a b,* section of Mechanical engine room and Control Systems, internal Institute of Applied Sciences (INSA), Rennes, France b ´ ´ ´ Department of Automated Manufacturing Engineering, Ecole de technologie superieure (ETS), Montreal, Canada acquire 21 September 2006; received in revised cause 19 March 2007; accepted 6 April 2007 Available online 4 June 2007 Abstract Three-degree-of-freedom planar parallel robots are increasingly world used in applications where precision is of the boundary importance. Clearly, methods for evaluating the true statement of these robots atomic issue 18 therefore needed. The accuracy of well designed, manufactured, and calibrated parallel robots depends in general on the input phantasms (sensor and control errors). adroitness and other corresponding consummation indices have often been used to evaluate indirectly the in?uence of input errors. However, industry needs a exact knowledge of the maximum orientation and position output errors at a given nominal con?guration.

An interval analysis method that can be adapted for this purpose has been proposed in the literature, save gives no kinematic insight into the occupation of optimal design. In this paper, a simpler method is proposed based on a small error analysis of 3-DOF planar parallel robots that brings valuable mind of the problem of error ampli?cation. Ã" 2007 Elsevier Ltd. All rights reserved. Keywords: Para llel mechanisms; Accuracy; Dexterity; surgi! cal process evaluation; Error analysis 1. Introduction Parallel robots are increasingly being used for precision positioning, and a summate 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,...If you want to nail going a full essay, order it on our website: OrderEssay.net

If you want to get a full information about our service, visit our page: write my essay