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Optimal kinematic design of a 2-DOF planar parallel manipulator

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4 Author(s)
Wu, Jun ; Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China ; Li, Tiemin ; Liu, Xinjun ; Wang, Liping

Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2-DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-D0F rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.

Published in:

Tsinghua Science and Technology  (Volume:12 ,  Issue: 3 )