Abstract
The behaviour of the kinematic chain R(RPRGR)RR using geared linkages with linear actuation recommends to be used as connection kinematic chain (RPRGR) for the parallel manipulators. The paper proposes a dimensional synthesis method for the planar parallel manipulator using geared linkages with linear actuation. It computes the minimum link lengths of the connection chain by considering the condition to avoid the desired trajectory intersection with the singularities loci in the achieved workspace. The synthesis results were analysed by means of inverse kinematic analysis.
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Lovasz, E.-C., Grigorescu, S., Margineanu, D., Gruescu, C.M., Pop, C., Maniu, I.: Kinematics of the planar parallel manipulator using geared linkages with linear actuation as kinematic chains 3-R(RPRGR)RR. In: Proceedings of 14th IFToMM World Congress Conference, 25–30 October 2015. doi Nr: 10.6567/IFToMM.14TH.WC.OS8.026
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Grigorescu, S.M., Lovasz, EC., Mărgineanu, D.T., Pop, C., Pop, F. (2017). Dimensional Synthesis of Planar Parallel Manipulator Using Geared Linkages with Linear Actuation as Kinematic Chains. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_8
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DOI: https://doi.org/10.1007/978-3-319-45450-4_8
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