Journal of Mechanical Science and Technology

  • 제20권6호
  • /
  • Pages.828-839
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  • 2006
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Kinematics and Optimization of 2-DOF Parallel Manipulator with Revolute Actuators and a Passive Leg

  • Nam Yun-Joo (Department of Mechanical and intelligent Systems Engineering, Pusan National University) ;
  • Park Myeong-Kwan (Research Institute of Mechanical Technology, School of Mechanical Engineering, Pusan National University)
  • 발행 : 2006.06.01
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초록

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are round. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.

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참고문헌

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