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COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Kinematic modeling of 5R parallel symmetrical mechanism subjected to uncertainties
Submission Author:
Leandro Augusto Martins , MG , Brazil
Co-Authors:
Fabian Andres Lara-Molina, TYAGO FYLIPE PROENCA, Leandro Augusto Martins
Presenter: Leandro Augusto Martins
doi://10.26678/ABCM.COBEM2017.COB17-0272
Abstract
This paper aims at analyzing the kinematic model of the 5R parallel symmetrical mechanism subject to uncertainties. The model describes the forward kinematics, workspace and kinematic dexterity represented by the Global Conditioning Index (GCI). The uncertainties are modeled as random variables and these uncertainties are introduced in the dimensions of links and also in the clearances of the active joints. Additionally the sensitivity analysis permits to evaluate the influence of each uncertain parameter in the model. Simulation results evaluate the forward kinematics, workspace and GCI with uncertainties.
Keywords
Kinematic, Uncertainties, Global Conditioning Index, Sensitivity analysis
