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Advances in Mechanical Engineering
Volume 2012 (2012), Article ID 171682, 10 pages
Research Article

Choosing Actuation Scheme for Optimal Performance of 3-DOF Planar Parallel Manipulators

1Department of Mechanical Engineering, G.V.P. College of Engineering, Visakhapatnam 530048, India
2Department of Mechanical Engineering, JNTU College of Engineering, Vizianagaram 535003, India
3Department of Mechanical Engineering, AU College of Engineering, Visakhapatnam 530003, India

Received 17 October 2011; Revised 6 March 2012; Accepted 30 March 2012

Academic Editor: Adib Becker

Copyright © 2012 S. Ramana Babu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper describes how the actuation scheme affects the size and shape of the workspace of 3RPR and 3PRR, which are the two popular planar parallel manipulators. This study helps in achieving the required singularity-free zones for a specific task by adopting a suitable actuation scheme without resorting to changing the architecture of the manipulator. In addition, the performance index GCI for each actuation scheme has been evaluated and compared with each other. Finally, the GCI for each actuation scheme has been optimized subjected to the geometric constraints for the 3PRR planar parallel manipulator.