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A comparison study of two planar 2-DOF parallel mechanisms: one with 2-RRR and the other with 3-RRR structures

Published online by Cambridge University Press:  15 January 2010

Jun Wu ,
Jinsong Wang  and
Liping Wang
Jun Wu*
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China
Jinsong Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China
Liping Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China
*
*Corresponding author. E-mail: wu-j03@mails.tsinghua.edu.cn
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Summary

This paper deals with a comparative study of two planar two degrees of freedom parallel mechanisms: one with 2-RRR and the other with 3-RRR structures. For a fair comparison, both 3-RRR and 2-RRR mechanisms are symmetrical. The kinematics and Jacobian matrix of the two mechanisms are studied. Conditioning index, stiffness index and payload index are proposed to compare the condition, stiffness and payload performance of the two mechanisms. The results show that the 2-RRR and 3-RRR mechanisms have the similar condition performance, and the planar 3-RRR mechanism has better payload and stiffness performance than the 2-RRR one.

Keywords

Parallel mechanismConditioning indexStiffness indexPayload index
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 937 - 942
Copyright
Copyright © Cambridge University Press 2010

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