Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg |
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| Authors: | Yun-Joo Nam Myeong-Kwan Park |
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| Affiliation: | 1. Department of Mechanical and Intelligent Systems Engineering, Pusan National University, 30 Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea
2. Research Institute of Mechanical Technology, School of Mechanical Engineering, Pusan National University, 30 Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea
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| Abstract: | In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic
analysis of the mechanism is analytically performed: the inverse and forward kinematics problems are solved in closed forms,
the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine
the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability
and workspace size. These results of the paper show the effectiveness of the presented manipulator. |
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