Kinematic performance of planar 5R symmetrical parallel mechanism subjected to clearances and uncertainties

Abstract

Parallel mechanisms are unavoidably subjected to uncertainties. These uncertainties produce a small variation of link lengths and joints position associated with the clearances. Therefore, this contribution aims at analyzing the effect of these uncertainties on the kinematic performance of the mechanism by examining the kinematic performance atlases. Initially, the complete kinematic model of the mechanism is formulated by considering the uncertainties thar are included in the modeled. The kinematic performance with the uncertainties is computed by using the Monte Carlo method. Then, the kinematic performance atlases based on workspace size and kinematic dexterity are analyzed including the uncertainties. Finally, the kinematic accuracy is evaluated for different link lengths in order to show the correspondent relationship with the kinematic performance atlases.