Abstract
Background/Objectives: Parallel manipulators edge over serial manipulators for their performance characteristics such as high accuracy and low inertia. In this paper, PRR planar parallel manipulator with elevated links was studied and analyzed. Methods/ Statistical Analysis: Kinematic simulation was carried out and the workspace of the manipulator was determined. Static analysis including stress analysis, torque and inertia computations was made. Stress analysis of manipulator was done by ANSYS. Findings: Simple analytical method was employed for finding workspace area. The load bearing capability of the non planar links was high compared to the planar links. The inertia computations of the lead screw and the inclined links provide promising results for system dynamics. Application/Improvements: Non-planar links will be useful for manipulators facing challenges in dynamics.Keywords: Moment of Inertia, Non-Planar Links, Planar Parallel Manipulator, Stiffness, Stress Analysis
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