Performance Evaluation of Planar 2-DOF Translation Parallel Manipulator

The planar 2-DOF parallel translation manipulator was treated as non-dimensional structure.The physical model of the solution space,which can reflect the scope that the geometric parameters change,was established.The relationship between link lengths and global performance indices,such as condition number of Jacobian matrix,payload and stiffness was discussed.The atlases for the global performance indices of the manipulator were plotted.