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https://dspace.iiti.ac.in/handle/123456789/6841
| Title: | Comparative kinematic and dynamic performance analysis of planar parallel manipulators |
| Authors: | Mohan, Santhakumar |
| Keywords: | Degrees of freedom (mechanics);Flexible manipulators;Kinematics;MATLAB;Mechanisms;Robotics;Comparative analysis;Dynamic performance;Dynamic performance analysis;Isotropy;Optimal kinematic design;Optimum designs;Planar parallel manipulators;Three degree of freedoms;Manipulators |
| Issue Date: | 2015 |
| Publisher: | Association for Computing Machinery |
| Citation: | Singh, 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:10.1145/2783449.2783454 |
| Abstract: | This 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. |
| URI: | https://doi.org/10.1145/2783449.2783454 https://dspace.iiti.ac.in/handle/123456789/6841 |
| ISBN: | 9781450333566 |
| Type of Material: | Conference Paper |
| Appears in Collections: | Department of Mechanical Engineering |
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