Sensitivity analysis and Comparison of 3-RRRManipulators with Additional Branches

Abstract

Sensitivity estimation is one of the most essential issues in the field of parallel kinematic manipulators (PKMs). However, the sensitivity estimation of this kind of PKMs is still uncertain and complicated effort. This paper presents a comparison study on the sensitivity indices of the 3-RRR planar parallel manipulator with one to three additional branches of PKMs. The simulation results show that the non-redundant and redundant manipulator with any additional branches has minimum sensitivity indices. The results are very important for accurate positioning of the manipulator.