Kinematic Analysis and Optimal Design of 2RPR-RP Parallel Manipulator

2RPR-RP 병렬 기구의 기구학 해석 및 최적설계

  • 남윤주 (부산대학교 대학원 지능기계공학과) ;
  • 이육형 (부산대학교 기계기술연구소) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2005.11.01


This paper presents the two degree-of-freedom(DOF) planar parallel mechanism called 2R$\underline{P}$R-RP manipulator, whose degree-of freedom is dependent on a passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed analytically: the inverse and forward kinematic problems are solved in the closed font the practical workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters and the operating limits of the actuators, the optimization of the mechanism is performed considering its dexterity and stiffness. Finally, the kinematic performances of the optimized mechanism are evaluated through comparing to the 5-bar parallel manipulator.


Kinematics;Limited-DOF Mechanism;Optimal Design;Parallel Manipulator;Passive Constraining Leg


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