Motion and force transmissibility of a planar 3-DOF parallel manipulator

Motion and force transmissibility is the inherent characteristic of a closed-chain manipulator. This paper investigates the motion and force transmission performance of a 3-RRR parallel manipulator. The inverse and screw analysis of the manipulator is firstly presented. Some performance indices are then defined as the evaluation criterion for the manipulator. By using the parameter design space, the corresponding performance atlases are plotted to illustrate the relationship between indices and geometrical parameters. Some results are then reached, and they are very useful for understanding the motion and force transmissibility of the parallel manipulator.