• P-ISSN 0974-6846 E-ISSN 0974-5645

Indian Journal of Science and Technology


Indian Journal of Science and Technology

Year: 2018, Volume: 11, Issue: 23, Pages: 1-6

Original Article

Analysis of Performance Indices of Planar Parallel Manipulators


In this paper the performance analysis of one of the most commonly used parallel manipulator is been discussed. Performance analysis explains the difference performance factors of parallel manipulators like Condition number, Manipulability index, Transmission index, Minimum singular value, Stiffness index etc. In this Paper we are going to deal with indices like Transmission index, stiffness index and condition number. Three different structures are considered for the analysis. In each structure, for the entire dexterous workspace best postures of the manipulators are identified based on the performance measures.

Keywords: Condition Number, Parallel Manipulators, Performance Analysis, Stiffness Index, Transmission Index


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