Topological Synthesis and Structural Analysis of Planar Parallel Mechanisms

This paper presents the identification of the best robot hand for the application of given task at the conceptual stage of design, based on the characteristics of kinematic chains like stiffness and compactness of the structure of the mechanism. The stiffness of the chain mainly depends upon the elasticity, supports and the dimension of the links of the mechanism. The chain with stiffer links will have the greater stiffness and lighter in weight, which leads the designer to think on load bearing capabilities of the chain. Compactness is the structural aspect of the chain, which tells about how closely the links of the chain arranged. More closeness leads to more compactness of the chain structurally, and more compactness leads to difficult in forward kinematics. The methodology adopted already by the Ashok dagar is been used in the present work to identify the best among the nine robot hands (ten bar single degree of freedom) based on the stiffness and compactness. Same characteristics are compared individually, and identified the best and high rated robot hands.