Published Papers
     Search Papers (Springer,
   After 2008)
     Search Papers (Dbpia,
   Until 2007)
     Search Papers (JMST
   own data base)
       - Classification By Year   
       - Classification By Topic
     Special Issues
   
           
   
 
 
Subject Keyword Abstract Author
 
 
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

 
 
 
JMST Editorial Office: #702 KSTC New Bldg, 22 7-gil, Teheran-ro, Gangnam-gu, Seoul 06130, Korea
TEL: +82-2-501-3605, E-mail: editorial@j-mst.org
JMST Production Office: #702 KSTC New Bldg, 22 7-gil, Teheran-ro, Gangnam-gu, Seoul 06130, Korea
TEL: +82-2-501-6056, FAX: +82-2-501-3649, E-mail: editorial@j-mst.org