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Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator

School of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, China
Symmetry 2019, 11(7), 908; https://doi.org/10.3390/sym11070908
Received: 20 April 2019 / Revised: 11 June 2019 / Accepted: 2 July 2019 / Published: 12 July 2019
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Abstract

This work presents a comprehensive performance evaluation and optimum design of a novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and the letter with underline represents an active joint) redundant planar parallel manipulator. The kinematic model is established, upon which the inverse position and singularity are analyzed. Based on the evaluation of dexterity, velocity, and stiffness performance, the optimum region is achieved. With the optical design parameters, a case study for the analysis of dynamic behavior is conducted. Performance comparison between the redundant manipulator and another two non-redundant 3-PPR planar parallel manipulators, one with a Δ-shape symmetrical structure and the other with U-shape symmetrical structure, is presented. Simulation results reveal that the U-shape manipulator has the greatest velocity performance. Moreover, the redundant manipulator possesses the best dexterity, stiffness, and dynamic performance.
Keywords: parallel manipulator; redundant actuation; performance analysis; optimum design parallel manipulator; redundant actuation; performance analysis; optimum design
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Wu, X. Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator. Symmetry 2019, 11, 908.

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