This paper presents an improved performance chart based design methodology for the optimum design of the 2-PRU-PPRC 2T1R redundant parallel manipulator with specified workspace, here P, R, U, C denote the prismatic, revolute, universal and cylindrical joints, respectively. Conditioning index and dynamic dexterity are used to analysis the kinematic and dynamic performance, and a new workspace efficiency index is proposed to evaluate the manipulator efficiency. An improved performance chart based design methodology, which take both geometrical parameters and task workspace parameter into account, is applied to obtain the optimum result with specified workspace. This study brings valuable kinematic/dynamic optimization method for the 2T1R parallel manipulator, and it is also applicable for other parallel manipulator optimization with specified workspace.
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