A New Planar Two Degree-of-Freedom Parallel Mechanism

摘要

In this paper, a novel planar two degrees of freedom parallel mechanism is presented that employs two parallelogram mechanisms and constrains the platform of the mechanism output to planar translational motion. Closed-form solutions are developed for both the inverse and direct kinematics. The velocity equation of the new parallel mechanism is given. Two types of singularities are obtained. And a description of the workspace for the mechanism is provided. The mechanism has wide applications in part handling, mobile bases for a spatial manipulator, etc. The concept design of a parallel kinematics machine (PKM) with hybrid kinematics based on the parallel mechanism is proposed. The kinematics, velocity, singularity and workspace analyses presented in this paper can be of great help in the design, trajectory planning and control of such devices.