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Conceptual Design of a 2-DoF Planar High-Speed Industrial Parallel Manipulator

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Recent Advances in Mechanisms, Transmissions and Applications (MeTrApp 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 79))

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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 strategy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with parallelogram loops and its simply constrained version are selected for detailed design. 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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Acknowledgment

This work is financially supported by The Scientific and Technological Research Council of Turkey via grant number 116M272.

Author information

Authors and Affiliations

  1. Mechanical Engineering, İzmir Institute of Technology, Izmir, Turkey

    Emre Uzunoğlu, Merve Özkahya, Erkan Paksoy, M. İ. Can Dede & Gökhan Kiper

  2. Mechanical & Aerospace Engineering, University of Texas at Arlington, Arlington, USA

    Barış Taner

Authors
  1. Emre Uzunoğlu
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  2. Merve Özkahya
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  3. Erkan Paksoy
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  4. Barış Taner
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  5. M. İ. Can Dede
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  6. Gökhan Kiper
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Corresponding author

Correspondence to Gökhan Kiper .

Editor information

Editors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, China

    Delun Wang

  2. Mechanical Engineering, University of the Basque Country, Bilbao, Spain

    Victor Petuya

  3. Tianjin University, Tianjin, China

    Yan Chen

  4. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada

    Shudong Yu

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Uzunoğlu, E., Özkahya, M., Paksoy, E., Taner, B., Can Dede, M.İ., Kiper, G. (2020). Conceptual Design of a 2-DoF Planar High-Speed Industrial Parallel Manipulator. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_34

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  • DOI: https://doi.org/10.1007/978-981-15-0142-5_34

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-0141-8

  • Online ISBN: 978-981-15-0142-5

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