The Kinematics Analysis and Simulation of a Planar Parallel Transitional Robot

A novel planar parallel manipulator with two degree of freedom was presented that employs two parallelogram mechanisms in each limb and all the joints are revolute joints.The outstanding characters of this mechanism are that the structure of joints is simple and the platform of the manipulator output to planar is translational motion.The forward and inverse resolution of position of the mechanism was given and the kinematics of the manipulator was simulated.The manipulator has wide application in the metal cutting,part handing,mobile base for a spatial manipulator,etc.The kinematics analyses and simulation can be used in the design,trajectory planning and real-time control of such device.