Kinematic Modeling, Dexterity and Performance Analysis of Planar Parallel Manipulators | ||
| Menoufia Journal of Electronic Engineering Research | ||
| Article 5, Volume 27, Issue 2, July 2018, Pages 105-140 | ||
| Document Type: Original Article | ||
| DOI: 10.21608/mjeer.2018.63183 | ||
| Authors | ||
| Amr Abo Salem; Tarek Y. Khedr; Gamal El Ghazaly; M. I. Mahmoud | ||
| Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering at Menouf, Menofia University, Egypt | ||
| Abstract | ||
| This research work is concerned with the Planar Parallel Manipulator (PPM). This investigation leads to a comparative study between the 2-RRR PPM which is a non-redundant PPM and 3-RRR PPM which is a redundant PPM. The main objective is to compare one type of PPM with another one that has one step of construction’s upgrading with respect to the other PPM. An important issue for optimal design of these manipulators is related to their performance characterizations. These two PPMs are introduced with their mechanism construction. Investigation of characteristics of PPMs goes through the complexity of the direct and inverse kinematics problems, which are solved using the suggested and proper geometrical equations. The dexterous workspace is geometrically obtained where the End-Effector (EE) can reach and illustrate some of its properties. In order to complete the study for these PPMs, the virtual work is determined, obtained and used, to get the PPM characteristics using the dynamic model. Jacobian matrix has been determined and used. This research work is terminated not only by two kinematic characteristics maps dexterity and manipulability - indices, but also with a dynamic characteristics map called dynamic index. | ||
| Keywords | ||
| Planar Parallel Manipulator (PPM); End-Effector (EE); Redundancy; Kinematic Model; Degree of Freedom (DOF); Performance indices | ||
| References | ||
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