Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

  • Yun-Joo Nam
  • Myeong-Kwan Park


In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed: the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.

Key Words

Kinematics Limited-DOF Mechanism Optimal Design Parallel Manipulator 


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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2003

Authors and Affiliations

  1. 1.Department of Mechanical and Intelligent Systems EngineeringPusan National UniversityBusanKorea
  2. 2.Research Institute of Mechanical Technology, School of Mechanical EngineeringPusan National UniversityBusanKorea

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