Optimal Kinematic Design of a Planar Parallel Manipulator with High Speed and High Precision

Abstract

This paper introduces a novel 2-DOF high speed and high precision planar parallel manipulator. The manipulator consists of a moving platform that is connected to a fixed base by two limbs. Each limb is made up of one prismatic and four revolute joints and the two prismatic axes are arranged orthogonally. In contrast to conventional XY-tables, the manipulator investigated herein doesn't need decoupling structure. In this paper, firstly, the optimal configuration of the manipulator is obtained based on the condition number. Secondly, for the optimal configuration, the forward and inverse kinematic equations are derived, and the singularity of the manipulator is analysed. Then, the optimal shape and position of workspace is obtained based on the global performance index. Finally, the dimension optimization design is performed according to the optimization objective function, which considers the global condition index and workspace.Index Terms -Planar parallel mechanism. High speed and high precision. Optimal kinematics design.

Dimensional Synthesis of a Novel 2T2R Parallel Manipulator for Medical Applications

“…Hence, a proper dimensional synthesis of the PMs, which involves finding dimensions of its structural parameters subject to design constraints and objectives, is very important. Most of these algorithms for dimensional synthesis are based on the evaluation of performance indices like isotropy index, transmission index, manipulability [4] or condition number [5].The major drawback with these algorithms is that their complexity increases rapidly with the number of structural parameters, as the effect of each structural parameter has to be analyzed by numerical computation of the Jacobian while discretizing the parameter space. Algorithms based on the kinematic mapping [6] and kinematic constraints [7] of the mechanism provide another alternative.…”

Closed-form solution for reachable workspace of axially symmetric hexapod robots

“…However, the work completed in this paper focuses specifically on the RW of axially symmetric hexapod walking robots. In general, the closed-form solution for the workspace of parallel manipulators facilitates the process of workspacebased optimal design of the robot as well as workspace optimization which have been previously completed using numerical methods [25][26][27][28][29][30][31].…”

A Study on the Kinematics of 2-DOF Parallel Manipulator

“…Sergiu et al analyzed the kinematics of the manipulator which has the same axis [5]. Li et al analyzed the kinematics of the manipulator which is actuated along x-y axis [6]. Bi et al analyzed the kinematics of the manipulator.…”