Journal of Mechanical Science and Technology

  • 제20권10호
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  • Pages.1614-1625
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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

Workspace Optimization and Kinematic Performance Evaluation of 2-DOF Parallel Mechanisms

  • Nam Yun-Joo (Department Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Park Myeong-Kwan (Research Institute of Mechanical Technology, School of Mechanical Engineering, Pusan National University)
  • 발행 : 2006.10.01
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초록

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

키워드

참고문헌

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