Workspace and Dexterity Optimization of 3-PRR Planar Parallel Manipulator

摘要

With the advantages of high speed and carrying capacity, good dynamic performance, low cost and compact structure, parallel robots have a good prospect of application. In this work, the 3-PRR, a new planar parallel manipulator (PPM) is presented. First, the constraint features, position formulations of 3-PRR PPM will be introduced. Second, optimization design will be considered with 2 different methods: Monte Carlo Method and Global Condition Index. Monte Carlo Method is applied to determine the optimum parameter with the largest workspace. Based on Global Condition Index, parameter will be optimized with the best dexterity. Third, a multi-objective optimization problem will be finally proposed in order to determine optimum kinematic parameter with a required workspace and a better dexterity.