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CSME 2022/12
Volume 43 No.6
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579-591
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Workspace Analysis and Optimal Design of 3-PRR Planar Parallel Manipulators
M.R. Shivakumar a, R. Srikrishna a, R. Sriram a, SreeSailesh a, Manoj Kumar Reddy a, Teja Prakash a and Anjan Kumar Dash a
aSchool of Mechanical Engineering, SASTRA Deemed University, Thanjavur, Tamil Nadu-613401, India
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Abstract:
In the optimum design of parallel manipulators, workspace of the manipulator is of greater importance. The shape and area of the workspace are the main parameters under this. In this paper, a new geometrical approach is presented to determine the shape and size of the constant orientation workspace for the 3-PRR planar parallel manipulators. All possibilities of shapes of workspaces are determined with variation of differ-ent parameters. For each shape of workspace corre-sponding geometrical conditions are also put forth. Closed from area expression of workspace is derived by geometrical approach for each shape. Such closed form expression of area is not possible with non-dimensional approach. This becomes extremely useful during optimal design procedure. A look-up table is also presented seeing which the designer can choose geometrical conditions between different parameters which will ensure a void free workspace. A case study is presented wherein a user gives his required work-space area and an algorithm is presented which gives all possible combinations of geometrical parameters satisfying the workspace area requirement. Then based on various considerations including singularity analy-sis an optimal parallel manipulator is offered for the task which does not have any void within the workspace having least/nil singularities.
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Keywords: 3-PRR Planar parallel manipulators, Workspace, Geometrical method, Closed form expression
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©
2022
CSME , ISSN 0257-9731
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