Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator

Abstract

This paper addresses geometry design and operating mode optimum design of a new kind of 2-DOF parallel manipulator actuated horizontally by linear actuators. The forward and inverse kinematics of this manipulator are derived. The four groups of inverse solution correspond to four different operating modes which cannot transit to each other smoothly. The workspace and the singularity trajectory of each mode are discussed. Based on the desired workspace, the geometry of the mechanism is determined. The operating mode of the mechanism is optimized according to distributing of all global and local performance indices on the workspace. The results are very useful for the design and application of the new manipulator with multiple forward and inverse solutions.

Optimization design using a global and comprehensive performance index and angular constraints in a type of parallel manipulator

“…The kinematic design primarily involves the determination of a group of design parameters, which can be fulfilled by optimizing a nonlinear objective function satisfied with a set of suitable constraints. It is universally acknowledged that the methods in the previous works to study the kinematic design of the parallel manipulator can be grouped into two types: the local optimum design, [4][5][6] which concentrates on seeking the required parameter locus to generate a group of isotropy; and the global optimization design, 7,8 which attempts to optimize a global conditioning index that satisfies the system performance. It is well known that the most applicable local performance index between the joint variables and the end-effector is the conditioning number of the Jacobian matrix.…”