A novel approach, called modular approach, is presented in this paper making possible the closed-form solutions of the planar path-generating multi-link mechanisms with lower pairs. In this approach, the mechanism is viewed as a suitable combination of some simpler components called "modules". The design of the modules is realized by applying the socalled Precision-Point, Subdomain and Galerkin methods. The approach is illustrated on 4-bar, slider-crank, double-slider, 5-bar and 6-link mechanisms. Numerical results prove the effectiveness of the approach.
Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a twopoint, two-velocity and three point-position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically.
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