Dynamic Performance Evaluation of a 2-DoF Planar Parallel Mechanism
نویسندگان
چکیده
منابع مشابه
Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator
Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) 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-DOF rot...
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† Nano Convergence and Manufacturing Systems Research Division, Korea Institute of Machinery and Materials, Daejeon 305-343, South Korea ‡ Department of Mechanical Engineering, Korea Air Force Academy, PO Box, 335-1, Ssangsu-Ri, Namil-Myeon, Cheongwon-Gun, Chungbuk 363-849, South Korea § School of Mechanical and Aerospace Engineering, Seoul National University, San 15-1, Shillim-dong, Kwanak-gu...
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Most research papers about parallel kinematic chain mechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may o...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/54731