Kinematic Modeling, Dexterity and Performance Analysis of Planar Parallel Manipulators

This research work is concerned with the Planar ParallelManipulator (PPM). This investigation leads to a comparative studybetween the 2-RRR PPM which is a non-redundant PPM and 3-RRRPPM which is a redundant PPM. The main objective is to compareone type of PPM with another one that has one step ofconstruction’s upgrading with respect to the other PPM. Animportant issue for optimal design of these manipulators is relatedto their performance characterizations. These two PPMs areintroduced with their mechanism construction. Investigation ofcharacteristics of PPMs goes through the complexity of the directand inverse kinematics problems, which are solved using thesuggested and proper geometrical equations. The dexterousworkspace is geometrically obtained where the End-Effector (EE)can reach and illustrate some of its properties. In order to completethe study for these PPMs, the virtual work is determined, obtainedand used, to get the PPM characteristics using the dynamic model.Jacobian matrix has been determined and used. This research workis terminated not only by two kinematic characteristics mapsdexterity and manipulability - indices, but also with a dynamiccharacteristics map called dynamic index.