Workspace and Manipulability Analysis of a 4-R ̅RR Redundant Planar Parallel Manipulator

Authors

  • Amnad Tongtib Department of Energy Management Engineering, Faculty of Industrial Technology, Uttaradit Rajabhat University
  • Chawalit Khanakornsuksan Department of Farm Mechanics, Faculty of Agriculture at Kamphaeng Saen, Kasetsart University, Kamphaeng Saen
  • Chawalit Khanakornsuksan Department of Farm Mechanics, Faculty of Agriculture at Kamphaeng Saen, Kasetsart University, Kamphaeng Saen

DOI:

https://doi.org/10.14456/rmutlengj.2022.4

Keywords:

Parallel Manipulator, Redundant Mechanism, Workspace, Manipulability Index

Abstract

Planar parallel manipulator has advantages to carry out high speed and accuracy tasks, but singular configurations can occur within a workspace. These singular configurations can be eliminated by adding redundant actuation. This paper presents an analysis of workspace ratio and Manipulability Index (MI) of a 4-RRR redundant planar parallel manipulator, which is created by introducing a redundant branch with active actuator to a 3-"R" ̅RR. Each branch made up as serial chain connects the moving platform to the fixed base by actuator, two rigid links and 2 passive revolute joints. A geometry method based on the forward kinematics would be appropriate to determine the workspace. Then, 4-"R" ̅RR workspace is generated by the intersection of all branched. MI of point in intersection workspace are analyzed. Finally, case study, a comparison of workspace ratio and MI of 3-"R" ̅RR and 4-"R" ̅RR parallel manipulator shown the 4-"R" ̅RR redundant structure can improve the MI to 37 times (for 400 mm and 500 mm of lower and upper link length, respectively) when compared with the 3-"R" ̅"RR" structure while the workspace ratio reduced to 13.15%.

References

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Published

2022-06-01

How to Cite

Tongtib, A. ., Khanakornsuksan, C. ., & Khanakornsuksan, C. . (2022). Workspace and Manipulability Analysis of a 4-R ̅RR Redundant Planar Parallel Manipulator. RMUTL Engineering Journal, 7(1), 33–42. https://doi.org/10.14456/rmutlengj.2022.4

Issue

Vol. 7 No. 1 (2022): January - June 2022

Section

Research Article

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