Workspace Analysis and Optimization of 3-RRR Planar Parallel Manipulator

Sathya Narayanan; Anjan Kumar Dash

doi:10.4028/www.scientific.net/AMM.813-814.1047

Paper Titles

Modelling and Workspace Analysis of Parallel-Serial Hybrid Manipulator
p.1028

Multi Objective Design Optimization of Helical Gear Pair Using Adaptive Parameter Harmony Search Algorithm
p.1032

Numerical Study about Combined Effect of Distributed Initial Imperfections and Dent on Ultimate Strength of Square Plates under Uni-Axial Compression
p.1037

Study of Free Vibration Characteristics of Carbon Epoxy Based Composite Beams
p.1042

Workspace Analysis and Optimization of 3-RRR Planar Parallel Manipulator
p.1047

Computer Aided Stress and Deflection Analysis of Inspection Robot at Different Postures
p.1052

A Study on the Classification Ability of Decision Tree and Support Vector Machine in Gearbox Fault Detection
p.1058

Numerical Study on the Effect of Free Rotating Vaneless Diffuser of Exit Diameter to Inlet Diameter Ratio 1.3 with Speed Ratio 0.50 on Centrifugal Compressor Performance
p.1063

Design and Performance Prediction of Low Cost Vertical Axis Wind Turbine
p.1070

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 813-814Workspace Analysis and Optimization of 3-RRR...

Workspace Analysis and Optimization of 3-RRR Planar Parallel Manipulator

Abstract:

Predicting shape and finding out exact area of the workspace of 3-DOF planar parallel manipulator having three rotary joints has been a research topic for long time. Optimal design based on such calculations provides a conclusive design methodology. In this work, geometrical method is used o get the exact shape of the workspace and expression of area for the shape obtained. The 3-DOF parallel manipulator is treated as a combination of three independent serial manipulators and its workspace as the common intersection area of these three serial manipulators. The three workspaces are then translated by length equal to radius of the end effecter and the common intersection area is obtained as the workspace of the parallel manipulator under study. The area is determined using the mathematical expression for the shape obtained. Based on direct search algorithm, a methodology is developed to optimize the area. Thus, following, this methodology, an user with specification of area of the workspace can be provided with an optimized parallel manipulator taking into account the inventory of link lengths and the cost of the links.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 813-814)

Pages:

1047-1051

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.813-814.1047

Citation:

Cite this paper

Online since:

November 2015

Authors:

Sathya Narayanan, Anjan Kumar Dash*

Keywords:

3-RRR Planar Parallel Manipulators, Geometrical Approach, Workspace Area, Workspace Shape

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

* - Corresponding Author

References

[1] J. P. Merlet, Parallel Robots, Springer, Netherlands.

Google Scholar

[2] C. M. Gosselin, Determination of the workspace of 6-DOF parallel manipulators, ASME journal of Mechanical Design (1990), 112, pp.331-336.

DOI: 10.1115/1.2912612

Google Scholar

[3] Xin-Jun Liu, Jie Li, Yanhua Zhou, Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator, Mechanism and Machine Theory, Volume 87, May 2015, Pages 1-17.

DOI: 10.1016/j.mechmachtheory.2014.12.014

Google Scholar

[4] Bihari, B., Kumar, D., Jha, C., Rathore, V.S., Dash, A.K., A geometric approach for the workspace analysis of two symmetric planar parallel manipulators, Robotica, 89 (3), 2014 (article in press).

DOI: 10.1017/s0263574714001830

Google Scholar

[5] André Gallant, Roger Boudreau, Marise Gallant, Geometric determination of the dexterous workspace of n-RRRR and n-RRPR manipulators, Mechanism and Machine Theory (2012), 51, 159-171.

DOI: 10.1016/j.mechmachtheory.2012.01.004

Google Scholar

[6] Jun Wu, Jinsong Wang, Liping Wang, Zheng You, Performance comparison of three planar 3-DOF parallel manipulators with 4-RRR, 3-RRR and 2-RRR structures, Mechatronics (2010), 20 (4), 510-517.

DOI: 10.1016/j.mechatronics.2010.04.012

Google Scholar

[7] Roger Boudreau, Scott Nokleby, Force optimization of kinematically redundant planar parallel manipulators following a desired trajectory, Mechanism and Machine Theory, Volume 56, October 2012, Pages 138-155.

DOI: 10.1016/j.mechmachtheory.2012.06.001

Google Scholar

[8] Mónica Urízar, Víctor Petuya, Oscar Altuzarra, Mikel Diez, Alfonso Hernández, Non-singular transitions based design methodology for parallel manipulators, Mechanism and Machine Theory, Volume 91, September 2015, Pages 168-186.

DOI: 10.1016/j.mechmachtheory.2015.04.010

Google Scholar

[9] Genliang Chen, Hao Wang, Zhongqin Lin, "A unified approach to the accuracy analysis of planar parallel manipulators both with input uncertainties and joint clearance, Mechanism and Machine Theory, Volume 64, June 2013, Pages 1-17.

DOI: 10.1016/j.mechmachtheory.2013.01.005

Google Scholar

[10] Serdar Kucuk, Energy minimization for 3-RRR fully planar parallel manipulators using particle swarm optimization, Mechanism and Machine Theory, Volume 62, April 2013, Pages 129-149.

DOI: 10.1016/j.mechmachtheory.2012.11.010

Google Scholar