Kinematic, Dynamic and Stiffness Analysis of an Asymmetric 2PRP-PPR Planar Parallel Manipulator

Abstract

This paper presents an assessment of the comparison of three-degree-of-freedom 2PRP-PPR planar parallel robotic manipulator (x, y, $\theta_{z}$ motion stage) with other standard planar parallel manipulators such as 3PPR U-base, 3PPR delta (Δ)-base and 3RRR in respect of static structural stiffness, optimal kinematic design and dynamic performances. Adams/View, a multibody dynamics software, has been utilized to analyze the kinematic and dynamic performance of the motion stage. Analysis of static stiffness has been performed and compared by the joint space Jacobian method along with the matrix structural analysis method. Also, static stiffness was verified through NASTRAN, a standard finite element software. The findings of numerical simulation conclude that the 3PPR U-base configuration and the proposed 2PRP-PPR manipulator possess a number of favorable optimum design characteristics such as good isotropy, better manipulability, better dynamic performances (power, energy), higher stiffness and singularity-free workspace as compared to other manipulators. Note: P and R refer to prismatic and revolute, respectively.