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 ...

• Type: Journal
• Year: 2007
• Where: CORR
• Authors: Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat
• Keywords: Angular Variations, CORR 2007, Education, Kinematic, Parallel Kinematic Machine