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| Kinematics and optimization of a 2-DOF parallel manipulator with a passive constraining leg and linear actuators
Ji-Hoon Lee/Yun-Joo Nam/Myeong-Kwan Park
The Journal of Mechanical Science and Technology, vol. 24, no. 1, pp.19-23, 2010
Abstract : This paper presents a two degree-of-freedom (DOF) planar parallel manipulator with two linear actuators, whose degree of freedom is
dependent on a passive constraining leg connecting the base and the platform. The kinematics of the presented manipulator is first studied:
the inverse and forward kinematics problems are solved in the closed form, the practical workspace is described symbolically, the
Jacobian matrix is derived, and several singular conditions are discussed. Then, in order to determine the geometric parameters and the
operating range of the actuators, the optimization of the mechanism is performed considering its dexterity and stiffness.
Keyword : Kinematics; Limited-DOF mechanism; Optimal design; Parallel manipulator; Passive constraining leg |
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