Kinematic Design Optimization of Planer-Link Mechanism Based Manipulator

Abstract

Abstract-This paper presents optimized kinematic design of a planer mechanism (4-link) based planar manipulator is presented in this paper. In case of the parallel manipulator, there is only one location defined between force and motion where local mobility index is one. In this paper, for maximum local mobility index, optimum link lengths of the manipulator that is function of the location of the input link are obtained. Charts, showing the optimum kinematic design of the 4 -link planer manipulator are obtained. It is clear from this result, that the performance of the manipulator is maximum for a position interval in addition to a certain position. Also, at some positions better relationship between force and motion is observed where local mobility index is not exactly unit.