Comparison Study of 2-D OF Parallel Mechanisms: Workspace Optimization and Kinematic Performance

2자유도 병렬 기구의 비교 연구 : 작업영역 최적화 및 기구학적 성능

  • 남윤주 (부산대학교 대학원 지능기계공학과) ;
  • 이육형 (부산대학교 기계기술연구소) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2006.12.01


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 of 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 with regards to their dexterity, stiffness and space utilization. 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.


Jacobian;Kinematics;Optimization;Parallel Mechanism;Workspace


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