The performance analysis of parallel mechanism 4-RPR(RR)

Reaching a desired spatial position and ensuring a high manipulability is an important issue in the design of robotic manipulators. For different parallel mechanisms the manipulability highly depends on their actual configurations. Kinematic and dynamic analysis is significant to a novel parallel mechanism. Kinematics and dynamic model of a parallel robot 4RPR(RR) using virtual mechanism influence coefficient methods, is presented in this paper. Changing mechanism size, a group of different sizepsila mechanisms including 121 are obtained. When each mechanism is in different position and posture, the mechanismpsila kinematics and dynamitic performance index atlas is drawn and a several mechanism which performance are better are selected and verified through simulation. And here, we applied a new optimized index considering its one-order Jaccobin and two-order Hessian matrices, which reflect robotic dynamitic performance more accurately.