Optimum Design of a 3-RRR Planar Parallel Manipulator with a Singularity-Free Workspace
In this paper, a reliable design strategy, capable of optimally picking out the geometrical parameters of the 3-RRR planar parallel manipulators, is presented. The distribution charts for singular loci and usable workspace shape are obtained in the non-dimensional design space. Based on the singularity-free workspace and good force transition capacity, the optimum kinematic parameters are determined by means of the global conditioning index. An example shows that the strategy is useful for realizing the singularity-free workspace optimally.
Zeyong Yin, Chengyu Jiang, Datong Qin, Peixin Qiao and Geng Liu
M. W. Gao et al., "Optimum Design of a 3-RRR Planar Parallel Manipulator with a Singularity-Free Workspace", Applied Mechanics and Materials, Vol. 86, pp. 606-610, 2011