Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

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

  • Conference paper
  • First Online:
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))

  • 846 Accesses

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Gosselin, C.: These de Doctorat Mcgill University. Ph.D. dissertation, McGill University, Montreal, Canada (1988)

    Google Scholar 

  2. Di Gregorio, R.: Statics and singularity loci of the 3-upu wrist. IEEE Trans. Robot. 20(4), 630–635 (2001)

    Article  Google Scholar 

  3. Merlet, J.P., Daney, D.: Appropriate design of parallel manipulators. In: Wang, L., Xi, J. (eds.) Smart Devices and Machines for Advanced Manufacturing. Springer, London (2008)

    Google Scholar 

  4. Kumar, A., Waldron, K.J.: The workspace of mechanical manipulator. J. Mech. Des. Trans. ASME 103, 665–672 (1981)

    Google Scholar 

  5. Gupta, K.C., Roth, B.: Design considerations for manipulator workspace. ASME J. Mech. Des. 104, 704–711 (1982)

    Google Scholar 

  6. Yang, D.C., Lai, Z.C.: On dexterity of robotic manipulators—service angle. J. Mech. Transm. Autom. Des. 107(2), 262–270 (1985)

    Article  Google Scholar 

  7. Kumar, A., Patel, M.S.: Mapping the manipulator workspace using interactive computer graphics. Int. J. Robot. Res. 5(2), 122–130 (1986). https://doi.org/10.1177/027836498600500213

    Article  Google Scholar 

  8. Alameldin, T., Sobh, T.: On the evaluation of reachable workspace for redundant manipulators. In: Paper Presented at the Proceedings of the 3rd International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, vol. 2 Charleston

    Google Scholar 

  9. Kucuk, S., Bingul, Z.: Robot workspace optimization based on a novel local and global performance indices. In: Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE, pp. 1593–1598 (2005)

    Google Scholar 

  10. Chang-Hwan, C., Hee-Seong, P., Seong-Hyun, K., Hyo-Jik, L., Jong-Kwang, L., Ji-Sub, Y., Byung-Seok, P.: A manipulator workspace generation algorithm using a singular value decomposition. Int. Conf. Control Autom. Syst. ICCAS 2008, 163–168 (2008)

    Google Scholar 

  11. Jin, Y., Chen, I.M., Yang, G.: Workspace evaluation of manipulators through finite-partition of SE(3). Robot. Comput. Integr. Manuf. 27(4), 850–859 (2011). https://doi.org/10.1016/j.rcim.2011.01.006

    Article  MathSciNet  Google Scholar 

  12. Wang, Z., Ji, S., Li, Y., Wan, Y.: A unified algorithm to determine the reachable and dexterous workspace of parallel manipulators. Robot. Comput. Integr. Manuf. 26(5), 454–460 (2010). https://doi.org/10.1016/j.rcim.2010.02.001

    Article  Google Scholar 

  13. Yang, J., Abdel-Malek, K., Zhang, Y.: On the workspace boundary determination of serial manipulators with nonunilateral constraints. Robot. Comput. Integr. Manuf. 24(1), 60–76 (2008). https://doi.org/10.1016/j.rcim.2006.06.005

    Article  Google Scholar 

  14. Tsai, K.L.: Determining the workspace boundary of 6-DOF parallel manipulators. Robotica 24(5), 605–611 (2006). https://doi.org/10.1017/s0263574706002682

  15. Alameldin, T., Badler, N., Sobh, T., Mihali, R.: A computational approach for constructing the reachable workspaces for redundant manipulators. Comput. J. 2(1), 48–52 (2003)

    Google Scholar 

  16. Abdel-Malek, K., Yeh, H.J., Othman, S.: Interior and exterior boundaries to the workspace of mechanical manipulators. Robot. Comput. Integr. Manuf. 16(5), 365–376 (2000). https://doi.org/10.1016/S0736-5845(00)00011-9

    Article  Google Scholar 

  17. Abdel-Malek, K., Adkins, F., Yeh, H.J., Haug, E.: On the determination of boundaries to manipulator workspaces. Robot. Comput. Integr. Manuf. 13(1), 63–72 (1997)

    Article  Google Scholar 

  18. Xiaoyong, Wu., Yan, R., Tan, R.: Performance analysis and comparison of three planar parallel manipulator MeTrApp. MMS 79, 270–279 (2020). https://doi.org/10.1007/978-981-15-0142-5_27

    Article  Google Scholar 

  19. Yoshikawa, T.: Manipulability of robotic mechanisms. Int. J. Robot. Res. 4(2), 3–9 (1985)

    Article  Google Scholar 

  20. Zhang, P., Yao, Z., Du, Z.: Global performance index system for kinematic optimization of robotic mechanism. Contributed by the Mechanisms and Robotics Committee of ASME for Publication in the Journal of Mechanical Design

    Google Scholar 

  21. Wu, X.: Optimal design and singularity analysis of a spatial parallel manipulator. Symmetry 11, 551 (2019)

    Article  Google Scholar 

  22. Bonev, I.A., Zlatanov, D., Gosselin, C.M.: Singularity analysis of 3-DOF planar parallel mechanisms via screw theory. ASME J. Mech. Des. 125(3), 573–581 (2003)

    Article  Google Scholar 

  23. Chen, X., Xie, F., Liu, X.-J.: Singularity Analysis of the Planar 3-RRR Parallel Manipulator Considering the Motion/Force Transmissibility, pp. 250–260 (2012). https://doi.org/10.1007/978-3-642-33509-9_24

  24. Mohammadi Daniali, H.R.: Instantaneous center of rotation and singularities of planar parallel manipulators. Int. J. Mech. Eng. Educ. 33(3), 251–259 (2005)

    Google Scholar 

  25. Merlet, J.P.: Singularity configurations of parallel robots and Grassmann geometry. Int. J. Robot. Res. 8(5), 45–56 (1989)

    Article  Google Scholar 

  26. Park, D.C., Kim, J.W.: Singularity analysis of closed kinematic Chains. J. Mech. Des. 121(1), 32–38 (1999)

    Article  Google Scholar 

  27. Ma, O., Angeles, J.: Architecture singularities of parallel manipulators. Int. J. Robot. Autom. 7(1), 23–29 (1992)

    Google Scholar 

  28. Davidson, J.K., Hunt, K.H.: Robots and Screw Theory: Applications of Kinematics And Statics To Robotics. Oxford University Press, London (2004)

    MATH  Google Scholar 

  29. Tsai, L.W.: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. WileyInterscience Publication, New York (1999)

    Google Scholar 

  30. Patel, K., Nayakpara, V., Patel, Y., Patel, Y.: Workspace and Singularity Analysis of 3-RRR Planar Parallel Manipulator (2013)

    Google Scholar 

Download references

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
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. G. Satish Babu
    View author publications

    You can also search for this author in PubMed Google Scholar

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

Rights and permissions

Reprints and permissions

Copyright information

© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

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

Download citation

Publish with us

Policies and ethics

Search

Navigation