APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR

Year 2018, Volume: 2 Issue: 2, 79 - 87, 15.05.2018

Hüseyin Mutlu İskender Özkul

https://doi.org/10.31127/tuje.345351

Abstract

Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a twopoint, two-velocity and three point-position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically

Keywords

Mechanism , Manipulator , robotic

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