Journal
MECHANISM AND MACHINE THEORY
Volume 44, Issue 5, Pages 991-1008Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2008.05.015
Keywords
Dynamic performance evaluation; Redundant parallel manipulator; Rigid dynamics; Comparison; Kinematics; Performance index
Categories
Funding
- National Natural Science Foundation of China [60534020]
- 973 National Key Basic Research Program of China [2006CB705400]
- China Postdoctoral Science Foundation [20070410719]
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This paper presents the dynamic performance comparison of the 8PSS redundant parallel manipulator and the 6PSS parallel manipulator. A series of kinematics and rigid dynamics performance indices with obvious physical meanings have been adopted to compare the performance of the 8PSS redundant parallel manipulator and that of the 6PSS parallel manipulator. It is turned out that their kinematics characteristics are equivalent while the dynamic performance of the 8PSS redundant parallel manipulator is better than that of the 6PSS parallel manipulator. (C) 2008 Elsevier Ltd. All rights reserved.
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