Optimum design of 3-RRR planar parallel manipulators

  title={Optimum design of 3-RRR planar parallel manipulators},
  author={Runliang Dou},
AbstractThis article deals with the optimum design of 3-RRR planar parallel manipulators. Based on the kinematic model and Jacobian matrix, the global conditioning index, global velocity index and global stiffness index of 3-RRR parallel manipulators are investigated. The corresponding atlases are represented graphically in the established design space, and the geometrical parameters without dimension are determined. An example is presented to achieve the optimum dimensional parameter based on… CONTINUE READING

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