Design and analysis of a 2-DOF hybrid-driven planar parallel manipulator based on virtual prototype technology

A particular emphasis is placed on the virtual prototype technology of a 2-DOF hybrid-driven planar parallel manipulator (HPPM). In this research, the workspace was expressed on the plane by using different assembly angles of the end effector of the HPPM. A virtual prototype of the HPPM is developed by employing Pro/Engineer, and the model was then integrated as a whole in MATLAB/ Simulink according to the actual system. In addition, based on Virtual Reality display techniques, we designed a virtual reality system of the HPPM. Simulation results will be very useful for designers to understand and grasp the performances of the manipulator.