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Certified workspace analysis of 3RRR planar parallel flexure mechanism

Denny Oetomo 1 David Daney 2 Bijan Shirinzadeh 3 Jean-Pierre Merlet 2
1 Department of Mechanical Engineering [Melbourne]
2 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
3 Department of Mechanical and Aerospace Engineering [Victoria]]
Abstract : This paper addresses the problem of certifying the performance of a precision flexure-base mechanism design with respect to the given constraints. Due to the stringent requirements associated with the applications of flexure-based precision mechanisms, it is necessary to be able to evaluate and certify the performance at the design stage, taking into account the possible sources of errors: such as fabrication tolerance and modeling inaccuracies in flexure joints. An interval-based method is proposed to certify whether various constraints are satisfied for all points within a required workspace. This paper presents the interval-based methodology and its implementation on a planar 3RRR parallel flexure-based manipulator.
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Conference papers
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https://hal.inria.fr/hal-00987549
Contributor : David Daney <>
Submitted on : Tuesday, May 6, 2014 - 2:15:16 PM
Last modification on : Tuesday, January 21, 2020 - 1:54:05 PM

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INRIA | ENPC | PARISTECH

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Denny Oetomo, David Daney, Bijan Shirinzadeh, Jean-Pierre Merlet. Certified workspace analysis of 3RRR planar parallel flexure mechanism. IEEE International Conference on Robotics and Automation (ICRA), 2008, Pasadena, United States. pp.3838--3843, ⟨10.1109/ROBOT.2008.4543800⟩. ⟨hal-00987549⟩

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