S. Ramana Babu and V. Ramachandra Raju and K. Ramji
Singularity Loci of Actuation Schemes for 3RRR Planar Parallel Manipulator
2189 - 2199
2015
9
12
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/10004725
https://publications.waset.org/vol/108
World Academy of Science, Engineering and Technology
This paper presents the effect of actuation schemes on the performance of parallel manipulators and also how the singularity loci have been changed in the reachable workspace of the manipulator with the choice of actuation scheme to drive the manipulator. The performance of the eight possible actuation schemes of 3RRR planar parallel manipulator is compared with each other. The optimal design problem is formulated to find the manipulator geometry that maximizes the singularity free conditioned workspace for all the eight actuation cases, the optimization problem is solved by using genetic algorithms.
Open Science Index 108, 2015