Comparison of 3-DOF Parallel Manipulators Based on New Dynamic Performance Indices

摘要

In a previous paper, dynamic indices for evaluating dynamic performances of three degrees of freedom manipulators were presented. In this paper their potential as a design tool is outlined, showing that they can be used for comparison of the dynamic performances of different manipulators and for the design of a manipulator with prescribed dynamic performances. As an example of application, two pure translational manipulators are considered and their dynamic performances compared.