Sensitivity Analysis of Parallel Manipulators Using a Fixed Point Interval Iteration Method

摘要

The subject of this paper is about a fixed point interval iteration method for the sensitivity analysis of manipulators to variations in their geometric parameters. First, the proposed method is presented. Then, two manipulators are used as illustrative examples: the five-bar mechanism and the Orthoglide robot. The advantages and the drawbacks of the method are also discussed and appropriate indices are derived to evaluate its efficiency. The results obtained with the proposed method are also compared with those obtained with other methods that are frequently used.