Dynamic manipulability and optimization of a redundant three DOF planar parallel manipulator

This paper deals with the dynamic manipulability and dynamic optimization of a redundantly actuated three degree-of-freedom (DOF) parallel manipulator. The dynamic formulation is derived based on the virtual work principle. The reciprocal of the condition number of the inertia matrix is presented as an index to evaluate the dynamic manipulability of the manipulator. Furthermore, a global dynamic conditioning index, which considers the condition number of inertia matrix over the task workspace, is proposed. Then the global index is applied for optimizing the dynamic manipulability of the manipulator. Result of the optimization of the manipulators based on the global index is included.