Performance Evaluation of a 2-DOF Planar Parallel Manipulator

摘要：

　　In this paper,a 2-DOF planar parallel manipulator actuated horizontally by linear actuators is proposed.The inverse and forward kinematics can be described in closed form.The velocity equation,singularity of the manipulator and the conditioning index is investigated.In addition,the inverse dynamics problem of the device is investigated employing the Lagrange approach.The dynamic simulation is carried out.The results show that the kinematics performance and the force transmissibility are worse when the end-effecter moves near the singularity.The proposed manipulator can be applied to the field of machine tools or used as the mobile base for a spatial manipulator.The results of the paper are very useful for the design and application of the new manipulator.

关键词： Parallel manipulators Kinematics Dynamics Performance index

作者: Xiaorong ZHU Huiping SHEN

作者单位: Mechanical Engineering School, Changzhou University, Changzhou, Jiangsu, China, 213016

会议类型: 国际会议

会议名称: the Second International Conference on Frontiers of Manufacturing and Design Science(第二届制造与设计科学国际会议(ICFMD 2011))

会议地点: 台湾

会议语种:英文

页码: 2829-2833

在线出版日期: 2011-12-11（万方平台首次上网日期，不代表论文的发表时间）