Comparison of the Dynamic Performance of Planar 3-DOF Parallel Manipulators

Graphical Singularity Analysis of 3-dof Planar Parallel Manipulators

This paper introduces a new approach to identify singularities of planar parallel manipulators (PPMs). This method is based on Maxwell’s reciprocal figure theory which establishes a duality between self-stress frameworks and reciprocal figures. We use line geometry tools to introduce a new graphical construction called the Mechanism’s Line of action Graph (MLG). The MLG is introduced in order t...

Performance atlases of the workspace for planar 3-DOF parallel manipulators

The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link leng...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of threedegree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the jointrate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations of these matrices are studied. The is...

A dexterity comparison for 3-DOF planar parallel manipulators with two kinematic chains using genetic algorithms

Structure Synthesis of 6-DOF 3-3 Decoupled Parallel Manipulators

In parallel manipulator design, usual 6-DOF PMs, like the Stewart platform, suffer from the disadvantages of difficult forward kinematics, coupled motion, and small workspace, so that the motion planing and control become very complicated and difficult to be implemented in real application. Most of the PMs with lower mobility are over-constrained when assembly errors are considered [1]. Therefo...