Interval kinematic and dynamic analysis of a planar parallel kinematic manipulator
Renzo Fernandes Bastos Bastos1; João Vitor de Carvalho Fontes Fontes1; Maíra Martins da Silva Silva1
1 Engineering School of São Carlos, University of São Paulo
doi:10.20906/CPS/USM-2016-0017
Resumo
Interval analysis can be exploited to determine upper and lower bounds of any function considering scattering parameters. In robotics, this method can be employed to evaluate clearance effects, to treat calibration and accuracy issues, to aid the design of collision-free trajectory planning among several others possible applications. In this manuscript, this technique is going to be employed to evaluate the impact of some scattering parameters on the kinematic and dynamic performance of a planar parallel kinematic manipulator, a 3RRR. Parallel kinetic machines may suffer from singularities in the workspace, calibration and accuracy issues. Scattering geometric parameters and/or dynamic properties may have a huge impact of the kinematic and dynamic performance of this kind of manipulators. This is going to be assessed by modeling the direct and inverse kinematic and dynamics of the 3RRR and by evaluating the impact of scattering geometric parameters and dynamic properties in such models using the interval analysis. This analysis is performed using INTLAB, an internal analysis toolbox in MATLAB. Using this technique, one can infer which design parameters should be close monitored during their manufacturing since any scattering may cause important performance variations.
Palavras-chave: parallel kinematic manipulators; interval analysis; kinematic and dynamic analysis