Performance Atlases of Global Conditioning Index of Planar 3-DOF Parallel Manipulator with Actuation Redundancy

Abstract:

This paper takes a new kind of planar 3-DOF parallel manipulator with actuation redundancy as the object of study. We utilize a design space to obtain the relationship between the link lengths of planar 3-DOF paralel manipulator with actuation redundancy and performance criteria based on the global conditioning index. The corresponding performance atlases has been plotted, the atlases are an important base of reference for the mechanism design of this parallel manipulator.

• Periodical: Advanced Materials Research (Volumes 479-481)
• Pages: 2316-2320
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.479-481.2316
• Online since: February 2012
• Authors: Bing Wang, Wei Na Han
• Keywords: Actuation Redundancy, Design Space, Global Conditioning Index, Parallel Manipulator, Performance Atlases

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