Analysis of Performance Indices of Planar Parallel Manipulators

P  Abhilash and A  Chandrashekhar

doi:10.17485/ijst/2018/v11i23/117134

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Analysis of Performance Indices of Planar Parallel Manipulators

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2018/v11i23/117134

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

Original Article

Analysis of Performance Indices of Planar Parallel Manipulators

P. Abhilash and A. Chandrashekhar^*

Mechanical Department, FST-IFHE, Hyderabad – 501503, Telangana, India; [email protected]

^*Author for correspondence
A. Chandrashekhar,
Mechanical Department, FST-IFHE, Hyderabad – 501503, Telangana, India; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

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