Workspace Analysis of A 2-DOF Planar Parallel Mechanism
Authors
Y. Y. Chen, X.Z. Han, F. Gao, Z.H. Wei, Y. Zhang
Corresponding Author
Y. Y. Chen
Available Online July 2015.
- DOI
- 10.2991/eame-15.2015.52How to use a DOI?
- Keywords
- parallel mechanism; kinematic analysis; singularity; workspace analysis
- 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.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Y. Y. Chen AU - X.Z. Han AU - F. Gao AU - Z.H. Wei AU - Y. Zhang PY - 2015/07 DA - 2015/07 TI - Workspace Analysis of A 2-DOF Planar Parallel Mechanism BT - Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering PB - Atlantis Press SP - 192 EP - 195 SN - 2352-5401 UR - https://doi.org/10.2991/eame-15.2015.52 DO - 10.2991/eame-15.2015.52 ID - Chen2015/07 ER -