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

VL - 10

JO - Machines

JF - Machines

SN - 2075-1702

IS - 4

M1 - 233

ER -