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http://dx.doi.org/10.5302/J.ICROS.2006.12.5.464

Optimal Kinematic Design of Planar Parallel Mechanisms: Application to 2RRR-RP Mechanism  

Nam Yun-Joo (부산대학교 대학원 지능기계공학과)
Lee Yuk-Hyung (부산대학교 기계기술연구소)
Park Myeong-Kwan (부산대학교 기계공학부 및 기계기술연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.5, 2006 , pp. 464-472 More about this Journal
Abstract
This paper presents the two degree-of-freedom (DOF) planar parallel mechanism, called the $2{\underline{R}}RR-RP$ manipulator, whose degree-of-freedom is dependent on an additional passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed: the inverse and forward kinematic problems are analytically solved, the workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters the optimization of the mechanism is performed considering its dexterity, stiffness, and space utilization. Finally, the kinematic performances of the optimized mechanism are evaluated through the comparison study to the conventional 5-bar parallel manipulator.
Keywords
kinematics; limited-DOF mechanism; optimal design; parallel manipulator; passive constraining leg;
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