A simplified approach for obtaining the workspace of a class of 2-dof planar parallel manipulators

This paper presents a method for generating the reachable workspace of a class of planar two-degree-of-freedom (dof) end-effector-type manipulators. This class is based on six planar linkages with five links and five joints, revolute and/or prismatic. A common set of two quadratic equations is prese...

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Bibliographic Details
Published in:Mechanism and machine theory 1999-10, Vol.34 (7), p.1057-1073
Main Authors: Cervantes-Sánchez, J.J., Rendón-Sánchez, J.G.
Format: Article
Language:English
Subjects:
Applied sciences
Drives
Exact sciences and technology
Linkage mechanisms, cams
Mechanical engineering. Machine design
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Summary:This paper presents a method for generating the reachable workspace of a class of planar two-degree-of-freedom (dof) end-effector-type manipulators. This class is based on six planar linkages with five links and five joints, revolute and/or prismatic. A common set of two quadratic equations is presented that determine the workspace of all the class as a function of the input motions of the manipulator under study. The quadratic equations involve only the Cartesian coordinates ( x, y) of the operation point. Thus, the formulation is governed by the analytical solution of a well known second order equation and the inverse kinematic problem is not required. Because of the simplicity of the involved equations, an algorithm can be easily implemented on a computer program. Examples of generated workspaces for all the class are given to illustrate the proposed approach.
ISSN:0094-114X
1873-3999
DOI:10.1016/S0094-114X(98)00077-9