Dynamic modeling and performance optimization of a 2-PRU-PPRC 2T1R redundant parallel manipulator

This paper presents an improved performance chart based design methodology for the optimum design of the 2- PRU-PPRC 2T1R redundant parallel manipulator with specified workspace, here P, R, U, C denote the prismatic, revolute, universal and cylindrical joints, respectively. The performance indices such as transmission index and dynamic dexterity are analyzed, and a new workspace efficiency index is proposed to evaluate the manipulator efficiency. An improved performance chart based design methodology, which take both geometrical parameters and task workspace parameter into account, is applied to obtain the optimum result with specified workspace. This study brings valuable optimization method for the 2T1R parallel manipulator, and it is also applicable for other parallel manipulator optimization with specified workspace.