Characteristics Analysis of a Novel 2-DOF Planar Parallel Mechanism

Abstract

This paper presents a deep research on a novel 2-DOF planar parallel mechanism. The composition of this planar parallel mechanism is introduced, its direct and inverse kinematics solution equations as well as the solution equations for the speed and the acceleration are deduced. Meanwhile, the workspace and the singularity are also analyzed. Through the solving process we can see that the direct and inverse solution equations of this mechanism have explicit expressions and convenient to realize real-time control. It forms a solid basis for the design and development of this mechanism.