Workspace optimization and kinematic performance evaluation of 2-DOF parallel mechanisms |
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Authors: | Yun-Joo Nam Myeong-Kwan Park |
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Affiliation: | 1. Department Mechanical and Intelligent Systems Engineering, Pusan National Universiy, 30 Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea 2. Research Institute of of Mechanical Technoloty, School of Mechanical Engineering, Pusan National University, 30 Jangjeon-dong, Geumjeong-gu, 609-735, Busan, Korea
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Abstract: | 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. |
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