Dynamic Manipulability of 3-RRR Planar Manipulator

Abstract

In this paper a simulation study is proposed to study the factors influencing the dynamic manipulability of 3-RRR planar manipulator with and without payload. Different combinations of robot parameters are examined using design of experiment technique while performing variety of tasks. The kinematic and dynamic models are derived symbolically and used to simulate the dynamic performance of 3-RRR planar manipulator while following different trajectories. Finally, the results generated from the simulation of various parameter combinations are analyzed using analysis of variance and discussed to include the optimization of robot’s performance based on the dynamic manipulability measure. © 2012, The Institution of Engineers (India).