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Abstract: Based on the analyses of workspace, dexterity, velocity and
precision, an optimal kinematic design method of 2-DOF planar parallel
robot is developed. A global index composed of conditioning index,
velocity and precision is proposed to achieve a workspace with good
performance. The proposed method can be implemented in two steps. In the
first step, under the constraints of dexterity and singularity, a
workspace with good performance is achieved, and a set of bars’ length
parameters and length ratios of two bars are generated to achieve the
objective workspace. In the second step, the proposed global index is
used to choose the most optimal length ratio between proximal and distal
bars from the series of parameters acquired in the first step, thus the
singularity, dexterity, velocity and precision are considered in the
optimal design.
Key words: Parallel mechanism Kinematics Optimal design
CLC No: TP24
国家863高科技发展计划资助项目(2003AA404060).
Received 20040406, received in revised form 20041203
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