TY - JOUR
T1 - Comparison of the Dynamic Performance of Planar 3-DOF Parallel Manipulators
AU - Si, Guoning
AU - Chen, Fahui
AU - Zhang, Xuping
PY - 2022/4
Y1 - 2022/4
N2 - This paper presents a comprehensive comparison study on the dynamic performances of three planar 3-DOF parallel manipulators (PPMs): 3-RRR, 3-PRR, and 3-RPR. In this research work, the discrete time transfer matrix method (DT-TMM) is employed for developing dynamic models of the planar parallel manipulators. Numerical simulations using the virtual work principle and ADAMS 2016 software are performed to verify the DT-TMM dynamic model of PPMs. Numerous dynamic performance indices, including dynamic dexterity, the power requirement, energy transmission efficiency, and the joint force/torque margin, are proposed to compare the dynamic performance of three PPMs under the general circular and linear trajectories. The comprehensive analyses and comparisons show that: (1) the 3-RRR PPM has advantages in terms of a circular trajectory, offering the best dynamic dexterity performance, the smallest power requirement, and the second-highest energy transfer efficiency; (2) the 3-PRR PPM performs best in terms of a linear trajectory, offering the best dynamic dexterity, the smallest power requirement range, and the best drive performance; and (3) the 3-RPR PPM has the highest energy transfer efficiency and demonstrates better dynamic performance in a circular trajectory compared to a linear trajectory.
AB - This paper presents a comprehensive comparison study on the dynamic performances of three planar 3-DOF parallel manipulators (PPMs): 3-RRR, 3-PRR, and 3-RPR. In this research work, the discrete time transfer matrix method (DT-TMM) is employed for developing dynamic models of the planar parallel manipulators. Numerical simulations using the virtual work principle and ADAMS 2016 software are performed to verify the DT-TMM dynamic model of PPMs. Numerous dynamic performance indices, including dynamic dexterity, the power requirement, energy transmission efficiency, and the joint force/torque margin, are proposed to compare the dynamic performance of three PPMs under the general circular and linear trajectories. The comprehensive analyses and comparisons show that: (1) the 3-RRR PPM has advantages in terms of a circular trajectory, offering the best dynamic dexterity performance, the smallest power requirement, and the second-highest energy transfer efficiency; (2) the 3-PRR PPM performs best in terms of a linear trajectory, offering the best dynamic dexterity, the smallest power requirement range, and the best drive performance; and (3) the 3-RPR PPM has the highest energy transfer efficiency and demonstrates better dynamic performance in a circular trajectory compared to a linear trajectory.
KW - discrete time transfer matrix method
KW - dynamic modeling
KW - dynamics dexterity
KW - energy transmission efficiency
KW - joint force/torque margin
KW - planar parallel manipulator
KW - power requirement
UR - http://www.scopus.com/inward/record.url?scp=85127981980&partnerID=8YFLogxK
U2 - 10.3390/machines10040233
DO - 10.3390/machines10040233
M3 - Journal article
AN - SCOPUS:85127981980
SN - 2075-1702
VL - 10
JO - Machines
JF - Machines
IS - 4
M1 - 233
ER -