Author:
Wu Jun,Wang Jinsong,Wang Liping
Abstract
SUMMARYThis paper deals with a comparative study of two planar two degrees of freedom parallel mechanisms: one with 2-RRR and the other with 3-RRR structures. For a fair comparison, both 3-RRR and 2-RRR mechanisms are symmetrical. The kinematics and Jacobian matrix of the two mechanisms are studied. Conditioning index, stiffness index and payload index are proposed to compare the condition, stiffness and payload performance of the two mechanisms. The results show that the 2-RRR and 3-RRR mechanisms have the similar condition performance, and the planar 3-RRR mechanism has better payload and stiffness performance than the 2-RRR one.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
22 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献