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Kinematic Performance Analysis of 3-DOF 3RRR Planar Parallel Manipulator

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Proceedings of International Conference on Intelligent Computing, Information and Control Systems

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1272))

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Abstract

In this article, the 3RRR planar parallel manipulator (PPM) is considered for modeling and performance analysis. As the revolute joints have better performance compared to prismatic joints because of frictional losses, in this paper, an attempt is made to calculate all possible performance indices. The 3RRR PPM is modeled, and performance indices like condition number, singularity, transmissibility, manipulability, stiffness and velocity indices are calculated. The three revolute joints (R) are considered, and the R indicates the actuated joint. Performance indices measurement is useful to the manipulator design, analysis, understanding and application of robotic manipulators to specific fields. Various different performance indices have been used to study the behavior of robotic manipulators from the inception of robots. This work is useful to have a clear understanding of 3RRR planar parallel manipulators.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Science and Technology, The ICFAI Foundation for Higher Education, Hyderabad, 501203, India

    Himam Saheb Shaik

  2. Department of Mechanical Engineering, GVP College of Engineering (Autonomous), Visakhapatnam, 530048, India

    G. Satish Babu

Authors
  1. Himam Saheb Shaik
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  2. G. Satish Babu
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Corresponding author

Correspondence to Himam Saheb Shaik .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, KGiSL Institute of Technology, Coimbatore, India

    A. Pasumpon Pandian

  2. Department of Business Administration, The Gerald Schwartz School of Business, St. Francis Xavier University, Antigonish, NS, Canada

    Ram Palanisamy

  3. University of Applied Sciences, Aigaleo, Greece

    Klimis Ntalianis

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Shaik, H.S., Satish Babu, G. (2021). Kinematic Performance Analysis of 3-DOF 3RRR Planar Parallel Manipulator. In: Pandian, A.P., Palanisamy, R., Ntalianis, K. (eds) Proceedings of International Conference on Intelligent Computing, Information and Control Systems. Advances in Intelligent Systems and Computing, vol 1272. Springer, Singapore. https://doi.org/10.1007/978-981-15-8443-5_75

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