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Optimal design of the link lengths for a planar parallel manipulator

ZHU Xiaorong  SHEN Huiping  
【摘要】:This paper addresses geometry design of a new kind of 2-DOF parallel manipulator actuated horizontally by linear actuators. The first step of the optimum design involves developing a non-dimensional structure of the planar 2-DOF parallel manipulator. The global conditioning index, global velocity index, global stiffness index and global payload index of the 2-DOF parallel manipulators are investigated, and the geometrical parameters without dimension are determined with respect to the specification on performances. Finally, 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 mechanism.

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