Conceptual Design of a 2-Dof Planar High-Speed Industrial Parallel Manipulator
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Date
2019-09
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Publisher
Springer
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Abstract
This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.
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Keywords
Planar parallel manipulator, Conceptual design, Control strategy
Turkish CoHE Thesis Center URL
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Source
Recent Advances in Mechanisms, IFToMM International Conference on Mechanisms, Transmissions and Applications
Volume
79
Issue
Start Page
344
End Page
353
