Abstract
The functionality of a workspace is one of the most important considerations in planar parallel manipulators (PPMs) design. Dexterous workspace (DW) is the subset of the reachable workspace (RW) and it means that full rotational dexterity is preserved in every translational position in space. However, DW is impractical as PPMs cannot rotate a full 360° because of interference. This paper proposes a workspace called prescribed flexible orientation workspace (PFOW) that characterizes the orientation capability of PPMs. To optimize and compare 3 degree-of-freedom (3-DOF) PPMs, a normalized and unified performance characteristic index is built based on indices including PFOW, condition number, velocity, payload, stiffness, and transmission indices which plays a guiding role in the optimization process. The best configuration is obtained through graphical performance comparison. In general, this work presents the analysis of rotational dexterity of PPMs and provides a guidance for optimization and selection.
Sign-in/Register to access full text options 
Free) 
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 call
