Abstract
Recently, the Parallel Manipulators (PMs) attract the attention of the researchers. This research work is concerned with the Planar Parallel Manipulators (PPMs). An investigation led to a comparative study between the 2-RRR PPM and 3-RRR PPM. The 2-RRR non redundant PPM and 3-RRR redundant PPM, with 2-degree-of freedom, are considered. These two PPMs are introduced with their mechanism construction. The workspace, different properties and performance indices are carried out. Investigation of characteristics of these manipulators should go through the complexity of the direct and inverse kinematics problems, which are solved using the suggested and proper geometrical equations. The dexterous workspace is geometrically obtained where the End-Effector (EE) can reach and illustrate some of its properties. The Jacobian matrix for these manipulators is essential method to complete this analysis. This work is terminated by two characteristic maps of these two manipulators, which are dexterity and manipulability indices that were covering the workspace.
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Salem, A.A., Khedr, T.Y., Ghazaly, G.E., Mahmoud, M.I. (2018). Modeling and Performance Analysis of Planar Parallel Manipulators. In: Hassanien, A., Shaalan, K., Gaber, T., Tolba, M. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2017. AISI 2017. Advances in Intelligent Systems and Computing, vol 639. Springer, Cham. https://doi.org/10.1007/978-3-319-64861-3_2
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DOI: https://doi.org/10.1007/978-3-319-64861-3_2
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