Modeling and evaluation of performance characteristics of redundant parallel planar manipulator

Abstract

This paper presents the mathematical modeling of 3RRR and 4 RRR Planar parallel manipulator and the performance analysis (Dexterity and manipulability indices) by using direct kinematic solutions, A parallel mechanism consists of the base of mechanism and the moving platform where the end-effectors are located. In this work the moving platform is replaced with revolute joint connected with end effectors, the base and the platform are connected by a series of linkages, first the direct kinematic relations are developed subsequently performance indices are compared for 4RRR and 3RRR parallel planar manipulators, with the addition of redundancy the 4RRR manipulators shows better performance indices than 3RRR parallel manipulators.