Design of a Planar Parallel Robot for Optimal Workspace and Dexterity

摘要

Parallel robots exhibit salient merits over their serial counterparts in applications where both accuracy and dynamic response are required. However, due to the strong dependence of geometric parameters and their performances, the corresponding design problems for the parallel robots are much more complex and the adequacy and effectiveness of the design method become more critical. In this paper, a study in the design optimization for a class of planar parallel robots is presented. The robots feature an in-parallel structure with two degrees of freedom. Dimension synthesis is performed through maximization of two key performance characteristics, addressing not only workspace but also dexterity of the robots under consideration. Optimal designs are attained using both parametric study and simplex algorithm. Results are shown by way of computer simulations aided with graphic visualizations.