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2021 | OriginalPaper | Chapter

Kinematic Analysis of the Class 2 Degree-of-Freedom Planar Parallel Mechanism via GRG2 Algorithm

Authors : ThanhTrung Trang, Yueming Hu, Weiguang Li, ThanhLong Pham, TuanAnh Nguyen, ThiThuThuy Le

Published in: Advances in Engineering Research and Application

Publisher: Springer International Publishing

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Abstract

This paper presents a simple and effective method to obtain joint inputs needed to attain any point in the reachable workspace of the class two-degree-of-freedom planar parallel manipulators, which are based on five rigid links and five single degree of freedom joints - revolute and prismatic joints. By using the close-loop vector theory, the kinematic equation is obtained and changed into a nonlinear optimization problem with constraints to the RosenBrock-Banana objective function form. The optimum solutions of the inverse and forward kinematic problem were implemented with a Generalized Reduced Gradient algorithm. The method has been applied to solve the kinematic problem to a representative mechanism in the class (5-bar planar parallel robot). Experimental results with achieved position accuracy of 0.012 mm as well as numerical simulation results have demonstrated the method advantage, including high accuracy results, fast calculation time, simple implementation and the feasibility when applied to the class of two-degree-of-freedom parallel mechanism in practice.

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Metadata
Title
Kinematic Analysis of the Class 2 Degree-of-Freedom Planar Parallel Mechanism via GRG2 Algorithm
Authors
ThanhTrung Trang
Yueming Hu
Weiguang Li
ThanhLong Pham
TuanAnh Nguyen
ThiThuThuy Le
Copyright Year
2021
Book
Advances in Engineering Research and Application

Print ISBN: 978-3-030-64718-6

Electronic ISBN: 978-3-030-64719-3

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-3-030-64719-3_57

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