Kinematics of the planar parallel Manipulator using Geared Linkages with linear Actuation as kinematic Chains 3-R (RPRGR) RR

10.6567/IFToMM.14TH.WC.OS8.026

Erwin-Christian Lovasz；Sanda Margareta Grigorescu；Dan Teodor Mărgineanu；Cristian Pop；Corina Mihaela Gruescu；Inocenţiu Maniu

Parallel planar manipulator ； Geared linkage with linear actuator ； Kinematic analysis ； Control functions

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

493 - 498

英文

The paper analyses a novel planar parallel manipulator using geared linkage with linear actuation as kinematic chains 3-R (RPRGR) RR. The characteristics of this kinematic chain consist mainly in the large rotation angle of the driven element with a proper transmission angle and approximately constant transmission ratio in a large range. The compact design of chains and in the fulfilling of the self-locking condition by using linear actuator recommends the geared linkage with linear actuator to be used as kinematic chains for parallel manipulators. The paper shows the particularities of the kinematic analysis of this planar parallel manipulator type and the control functions for some eloquent example problems.