Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering

Workspace Analysis of A 2-DOF Planar Parallel Mechanism

Authors
Y. Y. Chen, X.Z. Han, F. Gao, Z.H. Wei, Y. Zhang
Corresponding Author
Y. Y. Chen
Available Online July 2015.
DOI
10.2991/eame-15.2015.52How to use a DOI?
Keywords
parallel mechanism; kinematic analysis; singularity; workspace analysis
Abstract

A 2- Degree Of Freedom (DOF) planar parallel mechanism is introduced and the inverse solution of the kinematics and Jacobin matrix and workspace analysis are carries out. The mathematical conditions of which the singular configuration of the manipulator occurred based on Jacobin matrix and the relationship between the singular configuration and the bars are obtained. The impacts of design parameters on workspace are analysed and the workspace is discussed in detail using the graphical method, and the sizes of area on different design parameters are derived. The results are useful to the manufacturing and control of 2-DOF parallel prototype.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

Volume Title
Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering
Series
Advances in Engineering Research
Publication Date
July 2015
ISBN
978-94-62520-71-4
ISSN
2352-5401
DOI
10.2991/eame-15.2015.52How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Y. Y. Chen
AU  - X.Z. Han
AU  - F. Gao
AU  - Z.H. Wei
AU  - Y. Zhang
PY  - 2015/07
DA  - 2015/07
TI  - Workspace Analysis of A 2-DOF Planar Parallel Mechanism
BT  - Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering
PB  - Atlantis Press
SP  - 192
EP  - 195
SN  - 2352-5401
UR  - https://doi.org/10.2991/eame-15.2015.52
DO  - 10.2991/eame-15.2015.52
ID  - Chen2015/07
ER  -