Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

被引：5
|
作者：
Nam, Yun-Joo
Park, Myeong-Kwan
机构：
[1] Pusan Natl Univ, Res Inst Mech Technol, Sch Mech Engn, Pusan 609735, South Korea
[2] Pusan Natl Univ, Dept Mech & Intelligent Syst Engn, Pusan 609735, South Korea
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2006年 / 20卷 / 06期
关键词：
kinematics; limited-DOF mechanism; optimal design; parallel manipulator;
D O I：
10.1007/BF02915946
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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.
引用
收藏
页码：828 / 839
页数：12
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