Analysis of the Workspace and Singularity of Planar 2-DOF Parallel Manipulator with Actuation Redundancy

摘要

The mechanical design of manipulator is based on performance index, which will be determined for construction parameters. In order to discuss the relationship between performance index and dimensional parameter of Planar 2-DOF Parallel Manipulator with Actuation Redundancy, in this paper, firstly the design space and kinematics equation are established, the inverse kinematics is obtained, the reachable workspace is analyzed by geometrical method in detail, the relationship between reachable workspace and link length is obtained, and plotting the area performance atlas corresponding to reachable workspace in the design space, finally discussing the mathematical condition on which the singular configuration of the manipulator occurs and analytical method of singular track or singular loci is obtained.