The atlas of the payload capability for design of 2-DOF planar parallel manipulators

This research utilizes a physical model of the solution space to investigate the relationships between the global payload index (GPI) and link lengths of 2-DOF parallel planar manipulators (PPMs). Equations for the GPI are derived and used to generate contours on the model of the solution space. The atlas is useful for the analysis and design of 2-DOF PPMs.