Dimensional synthesis of a planar Parallel Manipulator for pick-and-place operations based on rigid-body dynamics

Abstract

This paper presents a linear driven 2 degree-of-freedoms (DoFs) Parallel Manipulator (PM) for pick-and-place operation in the light industry, and its dynamic dimensional synthesis is carried out. Inverse kinematics and rigid-body dynamics are formulated to propose a dynamic performance index, which is to minimize the maximum driving force of a single link. The index is associated with dimensional and inertial parameters and can be expressed as function of transmission angles. Then performance constraints are considered by investigating the relationship between singular values of Jacobian matrix and mapping characteristics of velocity, accuracy and stiffness. The approach is illustrated in detail through an example and the optimized dimensional parameters are obtained for high performance throughout the entire workspace. © Springer-Verlag Berlin Heidelberg 2012.