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Performance Analysis and Comparison of Three Planar Parallel Manipulators

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Recent Advances in Mechanisms, Transmissions and Applications (MeTrApp 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 79))

Abstract

This work presents a comprehensive performance evaluation and comparison of three planar parallel manipulators with PPR limbs. The kinematic model of the redundant 4-PPR planar parallel manipulator is established, upon which the inverse position model and singularity are analyzed. Then, the evaluations of dexterity, velocity and stiffness performance are achieved. Performance comparison between the redundant manipulator and another two non-redundant 3-PPR planar parallel manipulators, one with Δ-shape structure and the other with U-shape structure, is presented. Simulation results reveal that the U-shape manipulator owns the greatest velocity performance. Moreover, the redundant one possesses the best dexterity and stiffness performance.

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Funding

This work is financially supported by the Scientific Research Foundation of Chongqing University of Technology, the National Natural Science Foundation of China (No. 51805060).

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Authors and Affiliations

  1. School of Mechanical Engineering, Chongqing University of Technology, Chongqing, 400054, China

    Xiaoyong Wu, Ran Yan, Zhaowei Xiang, Fangyan Zheng & Rulong Tan

Authors
  1. Xiaoyong Wu
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  2. Ran Yan
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  3. Zhaowei Xiang
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  4. Fangyan Zheng
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  5. Rulong Tan
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Corresponding author

Correspondence to Xiaoyong Wu .

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Editors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, China

    Delun Wang

  2. Mechanical Engineering, University of the Basque Country, Bilbao, Spain

    Victor Petuya

  3. Tianjin University, Tianjin, China

    Yan Chen

  4. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada

    Shudong Yu

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Wu, X., Yan, R., Xiang, Z., Zheng, F., Tan, R. (2020). Performance Analysis and Comparison of Three Planar Parallel Manipulators. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_27

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  • DOI: https://doi.org/10.1007/978-981-15-0142-5_27

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-0141-8

  • Online ISBN: 978-981-15-0142-5

  • eBook Packages: EngineeringEngineering (R0)

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