Choosing Actuation Scheme for Optimal Performance of 3-DOF Planar Parallel Manipulators

Autor: S. Ramana Babu, V. Ramachandra Raju, K. Ramji
Jazyk: angličtina
Rok vydání: 2012
Předmět:
Zdroj: Advances in Mechanical Engineering, Vol 4 (2012)
Druh dokumentu: article
ISSN: 1687-8132
DOI: 10.1155/2012/171682
Popis: This paper describes how the actuation scheme affects the size and shape of the workspace of 3RPR and 3PRR, which are the two popular planar parallel manipulators. This study helps in achieving the required singularity-free zones for a specific task by adopting a suitable actuation scheme without resorting to changing the architecture of the manipulator. In addition, the performance index GCI for each actuation scheme has been evaluated and compared with each other. Finally, the GCI for each actuation scheme has been optimized subjected to the geometric constraints for the 3PRR planar parallel manipulator.
Databáze: Directory of Open Access Journals