This article deals with the optimum design of 3-RRR planar parallel manipulators. Based on the kinematic model and Jacobian matrix, the global conditioning index, global velocity index and global stiffness index of 3-RRR parallel manipulators are investigated. The corresponding atlases are represented graphically in the established design space, and the geometrical parameters without dimension are determined. An example is presented to achieve the optimum dimensional parameter based on the optimum non-dimensional result. The result of this article is not only useful for the development of 3-RRR planar parallel manipulators, but also helpful for the optimum design of other parallel manipulators.
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