This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton–Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF worktable to demonstrate its applicability.
Issue Section:
Technical Briefs
1.
Marco
, C.
, and Vincenzo
, P.-C.
, 2003, “A Family of 3-DOF Translational Parallel Manipulators
,” ASME J. Mech. Des.
1050-0472, 125
(2
), pp. 302
–307
.2.
Liu
, X. J.
, and Kim
, J.
, 2005, “A New Spatial Three-DoF Parallel Manipulator With High Rotational Capability
,” IEEE/ASME Trans. Mechatron.
1083-4435, 10
(5
), pp. 502
–512
.3.
Kock
, S.
, and Schumacher
, W.
, 1998, “A Parallel x-y Mechanism with Actuation Redundancy for High-Speed and Active-Stiffness Applications
,” Proceedings IEEE International Conference on Robotics and Automation (ICRA)
, Leuven, Belgium
, May 16–20, IEEE
, Piscataway, NJ
, pp. 2295
–2300
.4.
Bonev
, I. A.
, Zlatanov
, D.
, and Gosselin
, C. M.
, 2003, “Singularity Analysis of a 3-DOF Planar Parallel Mechanisms via Screw Theory
,” ASME J. Mech. Des.
1050-0472, 125
(3
), pp. 573
–581
.5.
Wang
, J. S.
, and Tang
, X. Q.
, 2003, “Analysis and Dimensional Design of a Novel Hybrid Machine Tool
,” Int. J. Mach. Tools Manuf.
0890-6955, 43
(7
), pp. 647
–655
.6.
Barrette
, G.
, and Gosselin
, C. M.
, 2005, “Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms
,” ASME J. Mech. Des.
1050-0472, 127
(2
), pp. 242
–248
.7.
Stump
, E.
, and Kumar
, V.
, 2006, “Workspace of Cable-Actuated Parallel Manipulators
,” ASME J. Mech. Des.
1050-0472, 128
(1
), pp. 159
–167
.8.
Liu
, X. J.
, 2006, “Optimum Kinematic Design of a Three Translational DOFs Parallel Manipulator
,” Robotica
0263-5747, 24
(2
), pp. 239
–250
.9.
Liu
, X. J.
, Wang
, J. S.
, and Kim
, J.
, 2006, “Determination of the Link Lengths for a Spatial 3-DOF Parallel Manipulator
,” ASME J. Mech. Des.
1050-0472, 128
(0
), pp. 365
–373
.10.
Huang
, T.
, Li
, Z. X.
, Li
, M.
, Chetwynd
, D. G.
, and Gosselin
, C. M.
, 2004, “Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and Place Operations
,” ASME J. Mech. Des.
1050-0472, 126
(3
), pp. 449
–455
.11.
Liu
, X J.
, Wang
, Q M.
, and Wang
, J S.
, 2005, “Kinematics, Dynamics and Dimensional Synthesis of a Novel 2-DoF Translational Manipulator
,” J. Intell. Robotic Syst.
0921-0296, 41
(4
), pp. 205
–224
.Copyright © 2007
by American Society of Mechanical Engineers
You do not currently have access to this content.
