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.
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Ji-Hoon Lee received the B.S. and M.S. degrees from the Department of Mechanical Engineering, Pusan National University. His current research interests are hydraulic and pneumatic control, and haptic system by using smart fluids.
Myeong-Kwan Park received the M.S. and Ph.D. degrees from Tokyo Institute of Technology, Tokyo, Japan. He is currently a full professor with the Department of Mechanical Engineering and a researcher in the Research Institute of Mechanical Technology at Pusan National University.
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Lee, JH., Nam, YJ. & Park, MK. Kinematics and optimization of a 2-DOF parallel manipulator with a passive constraining leg and linear actuators. J Mech Sci Technol 24, 19–23 (2010). https://doi.org/10.1007/s12206-009-1114-9
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DOI: https://doi.org/10.1007/s12206-009-1114-9