Architecture optimization of a planar 3-DOF parallel manipulator

This paper presents a study of the optimization of a planar 3-DOF (Degree Of Freedom) parallel manipulator. In this mechanism, the prismatic actuators are fixed to the based which leads to a reduction of of the moving links inertia, hence makes it attractive, particularly when high speeds are required and electric actuation is considered. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body on a plane with stiffness and accuracy. The mechanism is introduced and then based on geometry of the manipulator a workspace analysis is performed. Optimization of work space will be regarded with 3 different methods: Monte Carlo, Exact Method and Global Condition Index. The results are compared. A new approach is proposed to overcome link interference and give certainty to computational analysis.