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2015•Advances in engineering research/Advances in Engineering ResearchOpen access

Workspace Analysis of A 2-DOF Planar Parallel Mechanism

Y. Y. Chen, Xintian Han, Fei Gao, Zhuoheng Wei, Y. Zhang

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Abstract

A 2-Degree Of Freedom (DOF) planar parallel mechanism is introduced and the inverse solution of the kinematics and Jacobin matrix and workspace analysis are carries out.The mathematical conditions of which the singular configuration of the manipulator occurred based on Jacobin matrix and the relationship between the singular configuration and the bars are obtained.The impacts of design parameters on workspace are analysed and the workspace is discussed in detail using the graphical method, and the sizes of area on different design parameters are derived.The results are useful to the manufacturing and control of 2-DOF parallel prototype.

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What this paper is about

A 2-Degree Of Freedom (DOF) planar parallel mechanism is introduced and the inverse solution of the kinematics and Jacobin matrix and workspace analysis are carries out.The mathematical conditions of which the singular configuration of the manipulator occurred based on Jacobin matrix and the relationship between the singular configuration and the bars are obtained.The impacts of design parameters on workspace are analysed and the workspace is discussed in detail using the graphical method, and the sizes of area on different design parameters are derived.The results are useful to the manufacturing and control of 2-DOF parallel prototype.

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Available abstract

A 2-Degree Of Freedom (DOF) planar parallel mechanism is introduced and the inverse solution of the kinematics and Jacobin matrix and workspace analysis are carries out.The mathematical conditions of which the singular configuration of the manipulator occurred based on Jacobin matrix and the relationship between the singular configuration and the bars are obtained.The impacts of design parameters on workspace are analysed and the workspace is discussed in detail using the graphical method, and the sizes of area on different design parameters are derived.The results are useful to the manufacturing and control of 2-DOF parallel prototype.

Key concepts: Workspace, Mechanism (biology), Planar, Computer science, Distributed computing, Human–computer interaction, Computer graphics (images), Robot

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