Dynamic Dimensional Synthesis of a 2-DOF Translational Parallel Manipulator for Pick-and-Place Operations

An approach was proposed for the dynamic dimensional synthesis of a 2-DOF translational parallel ma-nipulator for pick-and-place operations.On the basis of rigid body dynamic formulation,a global dynamic perform-ance index was proposed to minimize the maximum driving torque of a single active joint.The proposed index can be explicitly expressed in terms of dimensional and inertial parameters as well as system configurations,allowing the singular configurations to be easily found.By establishing the explicit singular value of Jacobian matrix,a set of the transmission angle constraints taking into account mapping characteristics of speed,accuracy and rigidity were pro-posed.Then the transmission angle constraints were transformed into a set of performance constraints by investigating the relationship between singular value and kinematics performance.Simultaneously,workspace/machine volume ratio was taken into account.Through an example,the effects of the performance constraints on the feasible domains of design variables and the performance index were discussed in depth.A set of optimized dimensional parameters were obtained for achieving a comprehensive performance throughout the entire workspace.