Workspace optimization and kinematic performance evaluation of 2-DOF parallel mechanisms

被引：0

作者：

Yun-Joo Nam

Myeong-Kwan Park

机构：

[1] Pusan National Universiy,Department Mechanical and Intelligent Systems Engineering

[2] Pusan National University,Research Institute of of Mechanical Technoloty, School of Mechanical Engineering

来源：

Journal of Mechanical Science and Technology | 2006年 / 20卷

关键词：

Jacobian; Kinematics; Optimization; Parallel Mechanism; Workspace;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

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 for 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 in consideration of their dexterity and rigidity. 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.

引用

页码：1614 / 1625

页数：11

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