Sensitivity analysis of parallel manipulators using an interval linearization method

• Published in: Mechanism and machine theory Vol. 71; pp. 93 - 114
• Main Authors: Tannous, Mikhael, Caro, Stéphane, Goldsztejn, Alexandre
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.01.2014; Elsevier
• Subjects: Electronics; Engineering Sciences; Interval linearization method; Intervals; Linearization; Manipulators; Parallel manipulators; Robot arms; Robots; Sensitivity analysis; Singularities; Parallel manipulators; Interval linearization method; Sensitivity analysis
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2013.09.004

The subject of this paper is about an interval linearization method for the sensitivity analysis of manipulators to variations in their geometric parameters. First, the proposed method is presented. Then, three manipulators are used as illustrative examples: The five-bar mechanism, the 3-RRR planar parallel manipulator and the Orthoglide. The benefits and restrictions of the proposed method are also discussed and appropriate indices are derived to show the efficiency of the method. The obtained results are also compared with the results obtained with frequently used methods. The proposed method is simple to implement and provides verified results in low computational time and thus can be applied to complex robots such as the Orthoglide. In particular, the standard linearization method computes unreliable results near singularities, whereas the proposed interval linearization method automatically detects such situations. •Interval linearization method for the sensitivity analysis of manipulators•The benefits and restrictions of the proposed method are discussed.•Some indices are defined to evaluate the efficiency of the method.•The proposed method provides certified results and acceptable computation time.•Three illustrative examples highlight the contributions of the paper.