Kinematic Analysis and Design Optimization of 2UPR-2RPU Redundant Parallel Manipulator

To improve position accuracy, stiffness and transmission characteristics of parallel manipulator the method of redundant actuation is need to be implemented. This paper presents kinematic analysis of a new redundant parallel manipulator 2UPR/2RPU with three degrees of freedom. The performance analysis is carried out that how the redundant actuation can affect the transmission performance of the2UPR/2RPU spatial parallel manipulator. To check the validity of kinematic model the mechanism is simulated in CAD software CATIAV14, DMU kinematic module. The parameter finiteness normalization method is used to design a parallel manipulator for good transmission workspace. It is observed that the force transmission of the proposed manipulator is improved by optimizing the link parameters and the redundant actuation. The force-transmission index is increased in redundant actuation as compared to non-redundant 2UPR/RPU parallel manipulator.