Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2006-06

AUTHORS

Yun-Joo Nam, Myeong-Kwan Park

ABSTRACT

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed: the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator. More... »

PAGES

828

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/bf02915946

DOI

http://dx.doi.org/10.1007/bf02915946

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1049841870


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