A new method for optimum design of parallel manipulator based on kinematics and dynamics

This paper presents a new method for the optimum design of parallel manipulators by taking both the kinematics and dynamic characteristics into account. The optimum design of a 3-DOF 4-RRR planar parallel manipulator with actuation redundancy is investigated to demonstrate the method. The kinematic performance indices such as the conditioning index, the velocity index, and workspace area are analyzed. Further, the dynamic dexterity, which is used to evaluate the dynamic characteristics, is investigated. The corresponding atlases are represented graphically in the established design space. Based on these atlases, the geometrical parameters without dimension are determined. Then the optimum dimensional parameters are achieved based on the optimum non-dimensional result. By using the method proposed in this paper, the designer can obtain the optimum result with respect to both kinematic performance indices and dynamic performance indices. Since the dynamic performance is considered in the process of optimum design by using the method proposed in this paper, it is expected to realize the high dynamics of parallel manipulators.