Details

Autor(en) / Beteiligte

• Mohan, Santhakumar
• Corves, Burkhard
• Wenger, Philippe

Titel

Design Optimization and Accuracy Analysis of a Planar 2PRP-PRR Parallel Manipulator

Ist Teil von

• Computational Kinematics, p.432-440

Ort / Verlag

Cham: Springer International Publishing

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• This paper addresses the dimensional synthesis and design optimization of a three-degree-of-freedom planar U-shape fixed base 2PRP-PRR parallel manipulator to maximize its workspace. Two kinematic design solutions are proposed and their link parameters are optimized to maximize the workspace. Furthermore, accuracy analysis of the optimized manipulator configurations for the actuator inaccuracies is performed and the results are compared with the well-known planar 3PRP and 2PRP-PPR parallel configurations.