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Kinematics of a star-triangle planar parallel manipulator

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Abstract

This paper addresses kinematics of a 3 degree-of-freedom (DOF) planar parallel manipulator called Star-Triangle manipulator. The manipulator has good accuracy and a relatively large singularity-free workspace. First, position analysis of the manipulator is implemented indicating that both the inverse and forward position problems of the manipulator have only one solution. Then, velocity and singularity analyses of the manipulator are carried out and its isotropic configurations are identified using two Jacobian matrices. Based on the isotropic conditions, the workspace of manipulator is determined geometrically and it is shown that all points in the workspace are free of singularities. At last, kinematic accuracy of the manipulator is investigated on the workspace through a kinematic conditioning index (KCI).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Babol University of Technology, P.O. Box 484, Babol, Iran

    Soheil Zarkandi

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  1. Soheil Zarkandi
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Correspondence to Soheil Zarkandi.

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This paper was recommended for publication in revised form by Editor Jong Hyeon Park

Soheil Zarkandi received his B.S. and M.S. degrees in Mechanical Engineering from Babol University of Technology, Mazandaran, Babol, Iran, in 2006 and 2009, respectively. His research interests include kinematics of parallel manipula-tors, FEM and Computer aided design (CAD).

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Zarkandi, S. Kinematics of a star-triangle planar parallel manipulator. J Mech Sci Technol 25 (Suppl 1), 3223–3230 (2011). https://doi.org/10.1007/s12206-011-0931-9

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  • DOI: https://doi.org/10.1007/s12206-011-0931-9

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