Abstract
This paper presents a comparison study on the dynamics of three planar 3-DOF parallel manipulators, one with 3-RRR structure, and the other two with 2-RRR and 4-RRR structures. The inverse kinematics and Jacobian matrix of these mechanisms are analyzed. The dynamic formulations in the linear form are derived and a dynamic performance index is given to compare their dynamic performances. The results show that the 2-RRR parallel manipulator has the worst dynamic performance.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
