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


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.


Velocity Stiffness Parallel manipulator Actuation redundancy Optimum performance region 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Tian, Y.L., Shirinzadeh, B., Zhang, D., Zhong, Y.: Modeling and analysis of a three-revolute-revolute-revolute parallel micro-positioning mechanism. IMechE Part C, J. Mech. Eng. Sci. 255(9), 1027–1043 (2011)Google Scholar
  2. 2.
    Pritschow, G.: Parallel kinematic machines (PKM)—limitations and new solutions. CIRP Ann. Manuf. Technol. 49(1), 275–280 (2000)CrossRefGoogle Scholar
  3. 3.
    Do Thanh, T., Kotlarski, J., Heimann, B., Ortmaier, T.: Dynamics identification of kinematically redundant parallel robots using the direct search method. Mech. Mach. Theory 52(13), 277–295 (2012)CrossRefGoogle Scholar
  4. 4.
    Ropponen, T., Nakamura, Y.: Singularity-free parameterization and performance analysis of actuation redundancy. IEEE Int. Conf. Robot. Autom. 806–811 (1990)Google Scholar
  5. 5.
    Kim, S.: Operational quality analysis of parallel manipulators with actuation redundancy. IEEE Int. Conf. Robot. Autom. 3, 2651–2656 (1997)CrossRefGoogle Scholar
  6. 6.
    Obrien, J.F., Wen, J.T.: Redundant actuation for improving kinematic manipulability. IEEE Int. Conf. Robot. Autom. 2, 1520–1525 (1999)Google Scholar
  7. 7.
    Nagai, K., Liu, Z.: Re-design of force redundant parallel mechanisms by introducing kinematical redundancy. IEEE/RSJ Int. Conf. Intell. Robot. Syst. 5898–5904 (2009)Google Scholar
  8. 8.
    Zhang, D., Lei, J.: Kinematic analysis of a novel 3-DOF actuation redundant parallel manipulator using artificial intelligence approach. Robot. Comput.-Integr. Manuf. 27(1), 157–163 (2011)CrossRefGoogle Scholar
  9. 9.
    Jody, J.A., Nikos, G., Jian S., et al.: A high performance of 2-dof over-actuated parallel mechanism for ankle rehabilitation. IEEE Int. Conf. Robot. Autom. 2180–2186 (2009)Google Scholar
  10. 10.
    Wu, J., Wang, J.S., Li, T.M., Wang, L.P.: Performance analysis and application of a redundantly actuated parallel manipulator for milling. J. Intell. Robot. Syst. 50(2), 163–180 (2007)CrossRefGoogle Scholar
  11. 11.
    Zhang, D., Gao, Z., Su, X., Li, J.: A comparison study of three degree-of-freedom parallel robotic machine tools with/without actuation redundancy. Int. J. Comput. Integr. Manuf. 25(3), 230–247 (2012)CrossRefGoogle Scholar
  12. 12.
    Wu, J., Wang, J.S., Wang, L.P.: A comparison study of two planar 2-DOF parallel mechanisms: one with 2-RRR and the other with 3-RRR structures. Robotica 28(10), 937–942 (2010)CrossRefGoogle Scholar
  13. 13.
    Zhao, Y., Gao, F.: Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart- the 6PSS parallel manipulator. Mech. Mach. Theory 44(9), 991–1008 (2009)CrossRefMATHGoogle Scholar
  14. 14.
    Wu, J., Wang, J.S., Wang, L.P., You, Z.: Performance comparison of three planar 3-DOF parallel manipulators with 4-RRR, 3-RRR and 2-RRR structures. Mechatronics 20(4), 510–517 (2010)MathSciNetCrossRefGoogle Scholar
  15. 15.
    Dou, R.: Optimum design of 3-RRR planar parallel manipulators. Proc. IME C J. Mech. Eng. Sci. 224(2), 411–418 (2010)CrossRefGoogle Scholar
  16. 16.
    Lee, J.H., Yi, B.J., Oh, S.-R., Suh, I.H.: Optimal design and development of a five-bar finger with redundant actuation. Mechatronics 11(1), 27–42 (2001)CrossRefGoogle Scholar
  17. 17.
    Wang, J.S., Tang, X.Q.: Analysis and dimensional design of a novel hybrid machine tool. Int. J. Mach. Tools Manuf. 43(11), 647–655 (2003)CrossRefGoogle Scholar
  18. 18.
    Gosselin, C.M., Angeles, J.: The optimal kinematic design of a planar three-degree-of-freedom parallel manipulator. J. Mech. Transm. Autom. Des. 110(3), 35–41 (1988)CrossRefGoogle Scholar
  19. 19.
    Liu, X., Wang, J., Pritschow, G.: Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms. Mech. Mach. Theory 41(2), 119–144 (2006)MathSciNetCrossRefMATHGoogle Scholar

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

Personalised recommendations