Abstract
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.
| Original language | English |
|---|---|
| Article number | 233 |
| Journal | Machines |
| Volume | 10 |
| Issue | 4 |
| Number of pages | 23 |
| DOIs | |
| Publication status | Published - Apr 2022 |
Keywords
- discrete time transfer matrix method
- dynamic modeling
- dynamics dexterity
- energy transmission efficiency
- joint force/torque margin
- planar parallel manipulator
- power requirement