Determining the workspace of a 2-DOF planar parallel manipulator with flexible links using assumed mode method

The flexibility of the structures in parallel manipulators is more prominent when they operate at high speeds and carry out lightwieght links. In all robotic manipulationsworkspace analysis should be evaluated to attain the desired path more precisely and appropriately. Significant insight of the reachable workspace leads todeep uderstanding of feasible conditions which the endeffector could pass through. The determination of the 2-DOF planar parallel manipulator with flexible links is considered using assumed mode method modeling of the links. Moreover, the kinematic and dynamicequations are obtained using Lagrange equations of the first type. The Jacobian analysis is done to solve the singularity condition problem. Finally the workspace ofthe manipulator is simulated using Matlab with algorithm based on kinematic equations for flexible links

کلیدواژه ها:

Parallel Manipulator ، Flexible links ، Lagrange Equations ، Jacobian Analysis