Analysis and Application of a 2-DOF Planar Parallel Mechanism

Abstract

This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton–Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF worktable to demonstrate its applicability.

Derivation and isomorphism identification of valid topological graphs for 1-, 2-DOF planar closed mechanisms by characteristic strings

“…A 2-DOF parallel machine tool in Refs. [22,23] can be synthesized from TG with Q+2T+6B in Fig. 14(b).…”

Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy

“…However, these manipulators have smaller workspace. In addition, works on singularities of parallel manipulators [1][2][3][4] show that static singularities (which are completely absent in open-chain serial manipulators) appear within the workspace with continuous region thereby rendering the manipulator uncontrollable in some regions of the workspace. It has been shown that actuation redundancy can be an effective solution for eliminating singularities in parallel manipulator designs and thus improving their performances [5].…”

Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy

“…Parallel manipulators have drawn continuous interest in both academia and industry in recent years [1]. This is due to their favorable characteristics such as low mobile masses, high stiffness, acceptable accuracy, and so on.…”