Optimal Design of a Planar Five-Bar Parallel Manipulator Driven by Two Orthogonal Layout Actuators

Abstract:

This paper addresses geometry design of a new kind of 2-DOF five-bar parallel manipulator actuated by two orthogonal layout linear actuators. Although the manipulator has only one geometric parameter, i.e., the link length, the distribution of performance index is more complex. Here, we propose a design approach utilizing a performance chart and local condition index. The key problem in the design of the manipulator is the determination of not the link length but the workspace satisfying the design index. This paper gives an effective method to obtain the basic good-condition workspace without dimension. Then, based on the optimum non-dimensional result, the optimum dimensional parameters are achieved which is suitable for the desired workspace. The optimum methodology of this paper is convenient and can be extended to other parallel manipulators

• Periodical: Advanced Materials Research (Volumes 490-495)
• Pages: 2681-2685
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.490-495.2681
• Online since: March 2012
• Authors: Xiao Rong Zhu, Yi Lu, Hui Ping Shen
• Keywords: Kinematics, Optimum Design, Parallel Manipulator, Performance Index, Workspace

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