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63183

Kinematic Modeling, Dexterity and Performance Analysis of Planar Parallel Manipulators

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Last updated: 25 Dec 2024

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Abstract

This research work is concerned with the Planar Parallel
Manipulator (PPM). This investigation leads to a comparative study
between the 2-RRR PPM which is a non-redundant PPM and 3-RRR
PPM which is a redundant PPM. The main objective is to compare
one type of PPM with another one that has one step of
construction's upgrading with respect to the other PPM. An
important issue for optimal design of these manipulators is related
to their performance characterizations. These two PPMs are
introduced with their mechanism construction. Investigation of
characteristics of PPMs goes through the complexity of the direct
and inverse kinematics problems, which are solved using the
suggested and proper geometrical equations. The dexterous
workspace is geometrically obtained where the End-Effector (EE)
can reach and illustrate some of its properties. In order to complete
the study for these PPMs, the virtual work is determined, obtained
and used, to get the PPM characteristics using the dynamic model.
Jacobian matrix has been determined and used. This research work
is terminated not only by two kinematic characteristics maps
dexterity and manipulability - indices, but also with a dynamic
characteristics map called dynamic index.

DOI

10.21608/mjeer.2018.63183

Keywords

Planar Parallel Manipulator (PPM), End-Effector (EE), Redundancy, Kinematic Model, Degree of Freedom (DOF), Performance indices

Authors

First Name

Amr

Last Name

Abo Salem

MiddleName

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Affiliation

Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering at Menouf, Menofia University, Egypt

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First Name

Tarek Y.

Last Name

Khedr

MiddleName

-

Affiliation

Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering at Menouf, Menofia University, Egypt

Email

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City

-

Orcid

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First Name

Gamal

Last Name

El Ghazaly

MiddleName

-

Affiliation

Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering at Menouf, Menofia University, Egypt

Email

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City

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Orcid

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First Name

M. I.

Last Name

Mahmoud

MiddleName

-

Affiliation

Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering at Menouf, Menofia University, Egypt

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Orcid

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Volume

27

Article Issue

2

Related Issue

9505

Issue Date

2018-07-01

Receive Date

2017-05-25

Publish Date

2018-07-01

Page Start

105

Page End

140

Print ISSN

1687-1189

Online ISSN

2682-3535

Link

https://mjeer.journals.ekb.eg/article_63183.html

Detail API

https://mjeer.journals.ekb.eg/service?article_code=63183

Order

5

Type

Original Article

Type Code

1,088

Publication Type

Journal

Publication Title

Menoufia Journal of Electronic Engineering Research

Publication Link

https://mjeer.journals.ekb.eg/

MainTitle

Kinematic Modeling, Dexterity and Performance Analysis of Planar Parallel Manipulators

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Article

Created At

22 Jan 2023