文章基本信息

标题：Choosing Actuation Scheme for Optimal Performance of 3-DOF Planar Parallel Manipulators:
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作者：S. Ramana Babu ; V. Ramachandra Raju ; K. Ramji 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2012
卷号：4
页码：1-10
DOI：10.1155/2012/171682
语种：English
出版社：Sage Publications Ltd.
摘要：This paper describes how the actuation scheme affects the size and shape of the workspace of 3RPR and 3PRR, which are the two popular planar parallel manipulators. This study helps in achieving the required singularity-free zones for a specific task by adopting a suitable actuation scheme without resorting to changing the architecture of the manipulator. In addition, the performance index GCI for each actuation scheme has been evaluated and compared with each other. Finally, the GCI for each actuation scheme has been optimized subjected to the geometric constraints for the 3PRR planar parallel manipulator.