Velocity Analysis for a Redundantly Actuated Parallel Robot Based on Influence Coefficients

A planar 2-DOF redundantly actuated parallel robot is chosen as the object of study in this paper.Analysis of the inverse kinematics and the forward kinematics has been accomplished.There are 8 solutions for the inverse kinematics.The first order kinematic influence coefficient matrix has been set up using the influence coefficient method.Then the corresponding performance atlas has been plotted.The effects of the installation method on velocity performance have been discussed,and the optimal way has been pointed out.This paper has provided a basis for the design of this type of parallel robots.