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Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

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Academic year: 2021

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Figure

Fig. 1 3-RRR PPM with variable actuation
Table 1 The eight actuating modes of the 3-RRR VAM Actuating mode number driven links active angles 1 RRR 1 -RRR 2 -RRR 3 A 1 B 1 , A 2 B 2 , A 3 B 3 α 1 , α 2 , α 3 2 RRR 1 -RRR 2 -RRR 3 A 1 B 1 , A 2 B 2 , A 3 E 3 α 1 , α 2 , δ 3 3 RRR 1 -RRR 2 -RRR 3 A
Fig. 2 Transmission angle of the 3-RRR manipulator
Table 3 Ratio of the VAM actuating modes workspace size to the VAM workspace size with κ F −1 (J) > 0.15 and ψ < 75 ◦ , φ = 17.5 ◦
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