masterThesis
Análise do desempenho cinemático de um mecanismo planar paralelo sujeito a incertezas
Fecha
2019-12-02Registro en:
PROENCA, Tyago Fylipe Vieira. Análise do desempenho cinemático de um mecanismo planar paralelo sujeito a incertezas. 2019. Dissertação (Mestrado em Engenharia Mecânica) - Universidade Tecnológica Federal do Paraná, Cornélio Procópio, 2019.
Autor
Proenca, Tyago Fylipe Vieira
Resumen
Parallel mechanisms are unavoidably subjected to uncertainties. These uncertainties produce a small variation of link lengths and joint position. Therefore, this contribution aims at analyzing the effect of these uncertainties on the kinematic performance of the mechanism. Initially, the complete kinematic model of the mechanism is formulated by considering the uncertainties that are modeled as random variables. Then, the kinematic performance atlases based on workspace size and kinematic dexterity are analyzed including the uncertainties. Finally, the kinematic accuracy is evaluated for several poses within the workspace showing the correspondent relationship with the kinematic performance atlases.