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Determination of the closed-form workspace area expression and dimensional optimization of planar parallel manipulators

Published online by Cambridge University Press:  05 October 2016

M. Ganesh ,
Banke Bihari ,
Vijay Singh Rathore ,
Dhiraj Kumar ,
Chandan Kumar ,
Apelagunta Ramya Sree ,
Karanam Naga Sowmya  and
Anjan Kumar Dash
M. Ganesh*
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Banke Bihari
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Vijay Singh Rathore
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Dhiraj Kumar
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Chandan Kumar
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Apelagunta Ramya Sree
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Karanam Naga Sowmya
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
Anjan Kumar Dash
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur, 613401, Tamil Nadu, India
*
*Corresponding author. E-mail: ganeshm@mech.sastra.edu
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Summary

Optimization is an important step in the design and development of a planar parallel manipulator. For optimization processes, workspace analysis is a crucial and preliminary objective. Generally, the workspace analysis for such manipulators is carried out using a non-dimensional approach. For planar parallel manipulators of two degrees of freedom (2-DOF), a non-dimensional workspace analysis is very advantageous. However, it becomes very difficult in the case of 3-DOF and higher DOF manipulators because of the complex shape of the workspace. In this study, the workspace shape is classified as a function of the geometric parameters, and the closed-form area expressions are derived for a constant orientation workspace of a three revolute–revolute–revolute (3-RRR) planar manipulator. The approach is also shown to be feasible for different orientations of a mobile platform. An optimization procedure for the design of planar 3-RRR manipulators is proposed for a prescribed workspace area. It is observed that the closed-form area expression for all the possible shapes of the workspace provides a larger solution space, which is further optimized considering singularity, mass of the manipulator, and a force transmission index.

Keywords

3-DOF planar parallel manipulatorsGeometrical approachWorkspace shapeClosed-form workspace areaOptimization
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 2056 - 2075
Copyright
Copyright © Cambridge University Press 2016 

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