Optimum Design of a 3-RRR Planar Parallel Manipulator with a Singularity-Free Workspace

Ming Wang Gao; Xian Min Zhang; Zhi Wei Wu

doi:10.4028/www.scientific.net/AMM.86.606

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 86Optimum Design of a 3-RRR Planar Parallel...

Optimum Design of a 3-RRR Planar Parallel Manipulator with a Singularity-Free Workspace

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volume 86)

Pages:

606-610

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.86.606

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Online since:

August 2011

Authors:

Ming Wang Gao, Xian Min Zhang, Zhi Wei Wu

Keywords:

Optimum Design, Planar Parallel Manipulator, Singularity-Free

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