Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

摘要

This paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm x 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.