Impact of changing the position of the tool point on the moving platform on the dynamic performance of a 3RRR planar parallel manipulator

In this paper, the impact of changing the location of the tool point, on the moving platform, on the dynamics of a planar parallel manipulator is investigated. Lagrange-d’Alembert formulation is used to develop the dynamic model of the present manipulator. To evaluate the dynamic performance of the parallel manipulator, the input efforts and energy consumptions are calculated for the manipulator when the endeffector is positioned at different locations on the moving platform and executing given desired trajectories. The manipulator’s dimensions and parameters are kept the same during the optimization process and only the position of the tool-point on the moving platform is changed. The dynamic performance of the manipulator is then evaluated and optimized. It is shown that locating the end-effector of the manipulator at an optimum position reduces the generalized forces required to drive the manipulator. It also reduces the energy consumption of the manipulator.