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Journal of Intelligent & Robotic Systems

, Volume 72, Issue 1, pp 73–82 | Cite as

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

  • Jun Wu
  • Tiemin Li
  • Jinsong Wang
  • Liping Wang
Article

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.

Keywords

Velocity Stiffness Parallel manipulator Actuation redundancy Optimum performance region 

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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Jun Wu
    • 1
    • 2
  • Tiemin Li
    • 1
    • 2
  • Jinsong Wang
    • 1
    • 2
  • Liping Wang
    • 1
    • 2
  1. 1.State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical EngineeringTsinghua UniversityBeijingChina
  2. 2.Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and ControlBeijingChina

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