A Study on the Kinematics of 2-DOF Parallel Manipulator

Abstract:

In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation. Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics,found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.

• Periodical: Applied Mechanics and Materials (Volumes 148-149)
• Pages: 1487-1490
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.148-149.1487
• Online since: December 2011
• Authors: Jong Gyu Lee, Sang Ryong Lee, Choon Young Lee, Seung Han Yang
• Keywords: Constraint Condition, Direct Kinematics, Inverse Kinematic, Parallel Manipulator

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