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Please use this identifier to cite or link to this item: https://dspace.iiti.ac.in/handle/123456789/6841
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dc.contributor.authorMohan, Santhakumaren_US
dc.date.accessioned2022-03-17T01:00:00Z-
dc.date.accessioned2022-03-21T10:51:29Z-
dc.date.available2022-03-17T01:00:00Z-
dc.date.available2022-03-21T10:51:29Z-
dc.date.issued2015-
dc.identifier.citationSingh, Y., & Santhakumar, M. (2015). Comparative kinematic and dynamic performance analysis of planar parallel manipulators. Paper presented at the ACM International Conference Proceeding Series, , 02-04-July-2015 doi:10.1145/2783449.2783454en_US
dc.identifier.isbn9781450333566-
dc.identifier.otherEID(2-s2.0-84958541723)-
dc.identifier.urihttps://doi.org/10.1145/2783449.2783454-
dc.identifier.urihttps://dspace.iiti.ac.in/handle/123456789/6841-
dc.description.abstractThis paper addresses a comparative analysis of a three degree of freedom (DOF) planar parallel manipulators (x, y and φ) namely 3RRR, 3PRP, 3PRR, 3PPR base, 3PPR U base and 2PRP-PPR in terms of optimal kinematic design performance and dynamic performance. Kinematic and dynamic performance analyses of these six different configurations have been done using MATLAB and Adams/View software. From the simulation results, it is observed that the 2PRP-PPR planar parallel manipulator is associated with a few favorable optimum design aspects namely singularity free workspace, isotropy and better dynamic performance in terms of energy requirement as compare to other planar parallel manipulators discussed here. © 2015 ACM.en_US
dc.language.isoenen_US
dc.publisherAssociation for Computing Machineryen_US
dc.sourceACM International Conference Proceeding Seriesen_US
dc.subjectDegrees of freedom (mechanics)en_US
dc.subjectFlexible manipulatorsen_US
dc.subjectKinematicsen_US
dc.subjectMATLABen_US
dc.subjectMechanismsen_US
dc.subjectRoboticsen_US
dc.subjectComparative analysisen_US
dc.subjectDynamic performanceen_US
dc.subjectDynamic performance analysisen_US
dc.subjectIsotropyen_US
dc.subjectOptimal kinematic designen_US
dc.subjectOptimum designsen_US
dc.subjectPlanar parallel manipulatorsen_US
dc.subjectThree degree of freedomsen_US
dc.subjectManipulatorsen_US
dc.titleComparative kinematic and dynamic performance analysis of planar parallel manipulatorsen_US
dc.typeConference Paperen_US
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