Abstract
3RRR planar parallel manipulator is an important module for the high accuracy mobile manufacturing of large planar components, and the dimensional parameters optimized design with a specified workspace is also important for the parallel manipulator engineering design. This paper proposed a new global performance index - task workspace transmission index (TWTI) for solving the design problem of parallel manipulators with specified workspace. The inverse kinematic model of the 3RRR manipulator is presented, and the optimum dimensional parameters are achieved. The result shows that good kinematic performance with specified task workspace can be obtained. This index is also applicable for the dimensional parameters optimization of other parallel manipulator with specified workspace.
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