Elastodynamic performance of a planar parallel mechanism under uncertainties

Abstract

The analysis of the elastodynamic performance of the parallel mechanisms is necessary for their optimal design. This paper aims at evaluating the elastodynamics of a planar parallel mechanism with flexible joints subjected to uncertainties. Therefore, the elastodynamic performance is analyzed over the design space that considers all the possible combinations of the lengths of the links of the mechanism. The uncertainties in the stiffness of the active joints are modeled as random variables. The elastodynamic performance subjected to uncertainties is evaluated numerically by using the Monte Carlo Simulation.