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Abstract In this paper, an optimal kinematic design method analysis and design. However, since the workspace used in
for symmetrical five-bar planar parallel manipulators is the analysis is theoretical, the result cannot be completely
presented. The proposed design method is implemented in two applied to a practical design. Tian Huang [7] proposed a
steps. First, an optimal configuration is achieved, resulting in a hybrid method for the optimum kinematic design of 2 DOF
set of closed-form parametric relationships. Second, a searching
algorithm is proposed for finding the link lengths of the
parallel manipulators which was implemented in two steps to
manipulator to maximize usable workspace. In this usable optimize the mechanism with respect to the local and global
workspace there is no singularity configuration, and also a good conditioning indices. In [8], an approach of switching
dexterity is satisfied. A design example is included to illustrate working modes in the context of the development of a 2
the effectiveness of the proposed method. DOF planar parallel robot with revolute actuators was
Keywords- Optimal kinematic design, Parallel robotic proposed for optimization of workspace. The disadvantage
manipulator, Five-bar manipulator, Singularity, Workspace.
of this method is that it is related to the control strategy of
robot, so it is still complicated in practice. In [9], some
I. INTRODUCTION
applied performance indices such as the global condition
searching algorithm is proposed for finding the link lengths p2 depending on a1 and a2 as follows.
of robot to maximize usable workspace. There is no We assign:
singularity configuration in this usable workspace, and also a m = 2l0 + l21 (cos a 2 cos a1 ) (5)
good dexterity is satisfied.
n = l1 sin a1 sina 2 (6)
The rest of paper is organized as follows. In section 2,
the kinematic equations of a five-bar planar parallel We compute:
manipulator with symmetrical structure are presented. The m2 + n2
1 = 3 = acos (7)
proposed optimal kinematic design method is described in 2l2
section 3. In section 4, a design example is given. Finally, a
conclusion is reached in section 5. n (8)
2 = atan
m
II. KINEMATIC EQUATIONS There are two solutions to forward kinematics:
Solution 1 (up-configuration):
As depicted in Fig.1, a five-bar planar parallel manipulator
with symmetrical structure and a reference frame Oxy is p1 = 1 + 2 (9)
established in the workspace. The five-bar planar parallel p2 = 3 + 2 (10)
manipulator is actuated by two active joints, A1 and A2,
which are fixed on the base. Three passive revolute joints of Solution 2 (down-configuration):
the five-bar planar parallel manipulator are P1, P2 and E.We p1 = 2 1 + 2 (11)
denote a=(a1,a2)T and p=(p1,p2)T corresponding to the p 2 = + 2 + 3 (12)
active joint vector and passive joint vector, respectively;
X=(x,y)T is the Cartesian coordinates; and E(x,y) is the end- In this paper, we just consider the solution 1 (up-
effector of the parallel manipulators. The links length of the configuration) to the forward kinematics for analyzing the
parallel manipulators are A1P1 = A2P2 = l1, P1E = P2E = l2, five-bar planar parallel manipulator.
and l0=A1A2. B. Inverse kinematics
y In the inverse kinematics problem, we compute the input
E(x,y)
Active joints a from the given position of end-effector E ( x , y ) . As
Passive joints depicted in Fig.2, there could be four different solutions to
l2 l2 this problem with a desired position of the end-effector.
p2 y
p1
P1
E(x,y) Active joints
P2
l1
a1 Passive joints
l1
O a2 x l2
l2
A1
A2
l0 l0 P1 P2
Fig. 1. The five-bar planar parallel manipulator.
1 2
l1
l1 1
2
A. Forward kinematics x
The forward kinematics problem is to obtain the output A1 O A2
E ( x , y ) in the reference A1xy with respect to a set of given l0 l0
Fig. 2. Four solutions to the inverse kinematics of the five-bar planar
input a. parallel manipulator.
From Fig.1, we obtain:
x = l 0 + l1 cos a1 + l 2 cos p1 (1) We compute:
x = l 0 + l1 cos a 2 + l 2 cos p 2 (2)
1 = acos 1 0 (
l 2 + (l + x ) 2 + y 2 l 2
2 )
And: 2l (l + x ) 2 + y 2 (13)
y = l1 sin a1 + l 2 sin p1 (3) 1 0
y = l1 sin a 2 + l 2 sin p 2 (4)
2 = acos 1
2
0 (
l + (l x ) + y l
2 2 2
2 )
2 l (l x ) 2 + y 2 (14)
Here we have four joint variables a1, a2, p1 and p2. 1 0
Only a1 and a2 are independent and are the inputs of the y
controller for the parallel manipulator, while the rest joints 1 = atan
(15)
p1 and p2 are functions of a1 and a2. We compute p1 and l0 + x
The result in [7] showed that, the condition for five-bar And then, by changing the value of , different largest
planar parallel manipulator achieves an optimal side lengths of the square workspace Wo ( ) are obtained
configuration when the following parametric relationship is correspondingly. The maximal value of all those largest side
satisfied: lengths gives the maximal size for the square workspace
l0 =
2
(l2 l1 ) (27) ( )
Wo corresponding to the given value of .
2
At this optimal configuration, min takes the maximum and
max takes the minimum values simultaneously in the overall
workspace.
The position of the end-effector when the robot is at the 1 < max
optimal configuration is shown in Fig.3. And the coordinates
of the end-effector E(x,y) at this position are as the rMIC, yMIC
following: a = rMIC 2
T
2 (28)
E ( x, y) = 0, (l1 + l2 )
2
Let aimax and aimin be, respectively, the lower and upper
a = a a
bounds for ith actuator due to the actuator limits (i= 1,2).
The optimal kinematic design problem for maximization of
effective usable workspace of the five-bar planar parallel
manipulator is formulated as follows.
Optimization problem:
aMAX = a;
Find the link lengths l0, l1 and l2 that maximize a a=0
workspace bounded by a square Wo ( ) inside the MIC and
Fig.4. Flowchart of the algorithm to find aMAX .
subjects to all constrains below:
(1) 1 / (29)
0.8
find the parameters rMIC and yMIC using the equations (21), 0.4
exactly optimal solution, we can apply the Golden Section the condition index has the maximal value. The number of
Search method or Fibonaci Search method. parameters that needs to be determined in the design process
Using Golden Section Search method, we find the is reduced. A searching algorithm is proposed for finding the
optimal solution: 1.9721 and aMax 1.3142 . The link lengths of robot to maximize usable workspace. In this
usable workspace not only there is no singularity
contour of conditional index is expressed in Fig. 6.
configuration, but also a good dexterity is satisfied. An
example was carried out and the results show the
effectiveness of the proposed optimal kinematic design
method for the manipulators.
1
0.9
ACKNOWLEDGEMENT
The authors would like to express financial supports from
Condition Index
0.8
Korean Ministry of Knowledge Economy under Human
0.7 Resources Development Program for Convergence Robot
Specialists and under Robot Industry Core Technology
0.6
Project, and in part by The University of Danang-Vietnam.
1
0.5 0.5
2.5
2
0
x
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y 1.5
-1
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