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Performance Analysis and Comparison of Planar 3-DOF Parallel Manipulators with One and Two Additional Branches

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Abstract

This paper constructs a symmetrical 3-DOF parallel manipulator with one and two additional branches, respectively. The conditioning, stiffness, velocity and payload indices are developed to compare the performance of the two parallel manipulators, one with one additional branch, and the other with two additional branches. The optimum performance region with desirable performance is investigated. The simulations show that the redundant manipulator with one additional branch has a larger optimum performance region with the given conditioning, velocity, payload and stiffness performance. The results are not only important for designers to design the 3-DOF parallel manipulator, but also helpful for researchers to determine how many additional branches are added to develop a redundant parallel manipulator.

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Authors and Affiliations

  1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Jun Wu, Tiemin Li, Jinsong Wang & Liping Wang

  2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Beijing, 100084, China

    Jun Wu, Tiemin Li, Jinsong Wang & Liping Wang

Authors
  1. Jun Wu
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  2. Tiemin Li
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  3. Jinsong Wang
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  4. Liping Wang
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Correspondence to Jun Wu.

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Wu, J., Li, T., Wang, J. et al. Performance Analysis and Comparison of Planar 3-DOF Parallel Manipulators with One and Two Additional Branches. J Intell Robot Syst 72, 73–82 (2013). https://doi.org/10.1007/s10846-013-9824-8

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  • DOI: https://doi.org/10.1007/s10846-013-9824-8

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