Abstract: The expressions for
calculating the values of the workspace areas of 2-DOF parallel
planar manipulators (PPM) is derived. By the aid of computer,
the values are calculated and plotted on the physical model of
the solution space of the 2-DOF PPMs, so the
workspace-area-property atlas is obtained. The atlas delineates
the relationship between the workspace areas and the link
lengths of the 2-DOF PPMa all sidedly. It is very useful for
designers overall to understand and know well the relationship.
Key words:
Parallel robot Workspace Physical
model of solution space
Manuscript received on May
15, 1995; revised manuscript August 10, 1995
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