Indian Journal of Science and Technology

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Analysis of Performance Indices of Planar Parallel Manipulators


Affiliations
1 Mechanical Department, FST-IFHE, Hyderabad – 501503, Telangana, India
 

In this paper the performance analysis of one of the most commonly used parallel manipulator is been discussed. Performance analysis explains the difference performance factors of parallel manipulators like Condition number, Manipulability index, Transmission index, Minimum singular value, Stiffness index etc. In this Paper we are going to deal with indices like Transmission index, stiffness index and condition number. Three different structures are considered for the analysis. In each structure, for the entire dexterous workspace best postures of the manipulators are identified based on the performance measures.
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  • Analysis of Performance Indices of Planar Parallel Manipulators

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Authors

P. Abhilash
Mechanical Department, FST-IFHE, Hyderabad – 501503, Telangana, India
A. Chandrashekhar
Mechanical Department, FST-IFHE, Hyderabad – 501503, Telangana, India

Abstract


In this paper the performance analysis of one of the most commonly used parallel manipulator is been discussed. Performance analysis explains the difference performance factors of parallel manipulators like Condition number, Manipulability index, Transmission index, Minimum singular value, Stiffness index etc. In this Paper we are going to deal with indices like Transmission index, stiffness index and condition number. Three different structures are considered for the analysis. In each structure, for the entire dexterous workspace best postures of the manipulators are identified based on the performance measures.

References





DOI: https://doi.org/10.17485/ijst%2F2018%2Fv11i23%2F117134