Stiffness and Workspace Analysis

of 3-PRPR Parallel Manipulator

3-PRPR Parallel Manipulator
3-PRPR Parallel Manipulator
3-PRPR kinematically redundant planar parallel
manipulator can be reconfigured to obtain different
configurations for the 3-RPR parallel kinematic machine
obtained by fixing the base slider positions.
The resolution of such kinematic redundancy when
based on suitable optimization algorithm allows to obtain
desired kinematic or kinetostatic characteristics (e.g. isotropic
stiffness).
For industrial applications, especially machine tools,
isotropy of stiffness is a desirable criterion. Also, the various
workspace shapes that are desirable such as circle, triangle
etc can be put up as constraints during the optimization
algorithm.
Hence, the workspace and stiffness analysis of such
mechanism is necessary for practical application.
Workspace Analysis
(

=
Oiy
Oix
Oi O'
(

=
Cy
Cx
C O'
(

=
(

=
iy A
ix A
CAi
iy B
ix B
Bi C
'
'
'
'
'
'






' ' ' ' CBi R C O CBi C O Bi O - + = + =
The loop closure Equation
Continued..
(

= = =
(

-
(

u u
u u
+
(

=
(

=
+ =
(

-
(

u u
u u
+
(

=
(

Oiy
Oix
Aiy
Aix
Oi O Ai O Ai O d
Biy
Bix
Aiy
Aix
Biy
Bix
Aiy
Aix
CBi CAi BiAi
BiAi OBi Ai O
Biy
Bix
Cy
Cx
Biy
Bix
' ' '
cos sin
sin cos
'
'
'
cos sin
sin cos
Workspace with singularities for 3-RPR
-25 -20 -15 -10 -5 0 5 10 15 20
-20
-15
-10
-5
0
5
10
15
20
25
X-Coordinate
Y
-
C
o
o
r
d
i
n
a
t
e


3-PRPR workspace
Usable Workspace Boundary
3-RPR workspace otpimized for usable workspace
Stiffness Analysis
Stiffness matrix can be obtained from the
jacobian by following relation,

S=KJ
This is derived from the fact that jacobian
maps the end effector position to joint space.
Hence, premultiplying with actuator stiffness
will result in overall stiffness matrix.


Stiffness Analysis
The jacobian is modelled as follows, starting
from output twist equation,

i t i q i t i q i t i q tc 3 3 2 2 1 1 - + - + - =
| |
(
(
(

- =
i q
i q
i q
i t i tr tc tri
3
2
1
0 2 2 0
(
(
(

-
(
(
(

=
(
(
(

32
22
21
32 32 0 0
0 22 22 0
0 0 21 21
23
22
21
q
q
q
t tr
t tr
t tr
tc
tr
tr
tr
q B x A - = -
A B J - =
1
Condition Number
The use of stiffness matrix is to find the ratio
of its minimum and maximum eigenvalue at
each location for a given set of base joints.
This ratio is called condition number. The
condition number is calculated for few
random points and base slider position for
which the condition number is minimum is
obtained.
Results
0 5 10 15 20 25 30 35 40 45 50
3
3.2
3.4
3.6
3.8
4
4.2
4.4
4.6
4.8
5
number of iterations
b
a
s
e

s
l
i
d
e
r

p
o
s
i
t
i
o
n
s


s1
s2
s3
Base slider positions
point 1 point 2 point 3 point 4 point 5 point 6 point 7 point 8 point 9 point 10
s1 4.997687 0.055219 1.110257 4.980508 4.990171 0.02824 4.997189 0.398257 0.092651 4.842755
s2 4.985407 3.233046 0.236619 4.839818 1.563628 0.095418 4.894307 4.996592 4.923424 4.984804
s3 4.953179 4.98697 4.960602 4.76938 3.122725 0.437656 0.066591 4.905386 4.97741 4.990735
Conclusion
The present work can be utilised to
perform workspace comparision of various 3-
PRPR configurations.
With the help of stiffness analysis, base
slider positions can be obtained via condition
number.
The workspace and stiffness analysis can
be used to help the design procedure.
Reference
*1+ S. Lee, S. Kim, Kinematic analysis of generalized parallel manipulator systems, proceedings of the
32
nd
conference on decision and control, San Antonio, Texas, December 1993.
[2] M G. Mohamed and C. Gosselin, Design and analysis of kinematically redundant parallel
manipulators with configurable platforms, IEEE transactions on robotics, vol. 21, no. 3, June 2005.
[3] R. Boudreau, S. Nokleby, Force optimization of kinematically-redundant planar parallel
manipulators following a desired trajectory, Mechanism and Machine Theory 56 (2012) 138155.
[4] I. Ebrahimi, Juan A. Carretero, R. Boudreau, 3-PRRR redundant planar parallel manipulator: Inverse
displacement, workspace and singularity analyses, Mechanism and Machine Theory 42 (2007)
10071016.
[5] M. Lopez, E. Castillo, G. Garcia and A. Bashir, Delta robot: inverse, direct, and intermediate
Jacobians, Proc. IMechE Vol. 220 Part C: J. Mechanical Engineering Science, 2006.
[6] Joel W. Burdick, On the Inverse Kinematics of Redundant Manipulators: Characterization of the
Self-Motion Manifolds, IEEE, 1989.
[7] L. Hernandez, E. Izaguirre, E. Rubio, O. Urquijo and J. Guerra, Kinematic task space control scheme
for 3dof pneumatic parallel robot, Intech open source journal, 2011.
[8] J. Wang, C. Gosselin, Kinematic analysis and design of kinematically redundant parallel
mechanisms, Journal of mechanical design, January 2004, vol.126.
[9] C. Gosselin, J. Angeles, Singularity analysis of closed loop kinematic chains, IEEE transactions on
robotics and automation, vol. 6, no. 3. June 1990.
[10] L. W. Tsai, The jacobian analysis of a parallel manipulator using reciprocal screws, a technical
research report,ISR, T.R.98-34.