On the Accuracy Analyses of a Class of 2-DOF Planar Parallel Manipulators

Ozsipahi M., SÖYLEMEZ E.

3rd Conference of the Mechanisms Transmissions and Applications, Aachen, Germany, 6 - 08 May 2015, vol.31, pp.41-48 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 31
  • Doi Number: 10.1007/978-3-319-17067-1_5
  • City: Aachen
  • Country: Germany
  • Page Numbers: pp.41-48
  • Middle East Technical University Affiliated: Yes


This study is about the accuracy analysis of two degrees of freedom planar parallel manipulators consisting of five links (one of which is fixed) that are connected to each other with five revolute (R) or prismatic (P) joints. Among these manipulators, topologically RRRRR, PRRRP, RPRPR planar parallel manipulators are selected. Accuracy analysis is a common method to evaluate the performance of parallel manipulators. In this study, accuracy analysis of these planar parallel manipulators is presented by using local conditioning index and maximum positional error methods. For each of the manipulators, mathematical expressions for the local conditioning index and maximum positional errors are derived. These expressions are implemented using Matlab (c) environment and examples are presented to show the accuracy distributions over the workspace. The consistency between local conditioning index and maximum positional error is discussed.