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http://dx.doi.org/10.3795/KSME-A.2006.30.12.1564

Comparison Study of 2-D OF Parallel Mechanisms: Workspace Optimization and Kinematic Performance  

Nam, Yun-Joo (부산대학교 대학원 지능기계공학과)
Lee, Yuk-Hyung (부산대학교 기계기술연구소)
Park, Myeon-Kwan (부산대학교 기계공학부 및 기계기술연구소)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.30, no.12, 2006 , pp. 1564-1572 More about this Journal
Abstract
This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix of each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. .Finally, the kinematic optimization of the mechanisms is performed with regards to their dexterity, stiffness and space utilization. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.
Keywords
Jacobian; Kinematics; Optimization; Parallel Mechanism; Workspace;
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Times Cited By KSCI : 3  (Citation Analysis)
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