Optimum platform design of 3-RRR planar parallel manipulators with a parameterized model

In this work, a parameterized model of 3-RRR planar parallel manipulator is proposed, aiming to optimize the kinematic performance with optimum shapes and sizes of the base and mobile platforms. In the model the inverse and direct kinematics are addressed, upon which the global kinematic performance in terms of dexterity index is calculated and analyzed. These analyses reveal the sensitivity of overall performance to the dimensional and shape parameters of 3-RRR planar parallel manipulator. Optimal configurations are obtained from the global conditioning index atlas.