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Analysis on Velocity Performance of Planar 3-DOF Parallel Manipulator with Actuation Redundancy

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Abstract:

In this paper, the design space is utilized to obtain the analytical relationship between the link lengths of planar 3-DOF paralel manipulator with actuation redundancy and performance criteria based on the global velocity index. The corresponding performance atlases has been plotted, the atlases are an important base of reference for the mechanism design of this parallel manipulator.

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Periodical:

Advanced Materials Research (Volumes 479-481)

Pages:

2327-2332

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.2327

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Cite this paper

Online since:

February 2012

Authors:

Bing Wang, Zhi Hui Wei

Keywords:

Actuation Redundancy, Design Space, Global Velocity Index, Parallel Manipulator, Performance Atlases

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© 2012 Trans Tech Publications Ltd. All Rights Reserved

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