Optimal Workspace Design of 2-DOF Parallel Manipulator

The parallel manipulator (PM) is made up of five-bars, two prismatic joints and three revolute joints, where two prismatic joints that are attached to the base. In this paper, PM designed as lightweight manipulator to provide an alternative high-speed writing positioning mechanism to serial architecture manipulator. Lightweight mechanism is more likely to exhibit structural defection and vibrate due to the force from high-speed motion and external force from actuators. This paper proposes a new method of modeling and simulation of 2-DOF (degree-of-freedom). PM with flexible links calculated base on SolidWorks, MATLAB, C# programming language. PM builds up with direct and inverse kinematic. The servo motor (Futaba-S3003) constructed under the environment of the controller (Arduino Pro-mini) to satisfy the performance requirement for making the end-effector track within the determined workspace. The determined workspaces are calculated by Geometric Analysis equations. End-effector points are shown by applying MATLAB. In additional the hardware result shows that the controller can control the movement of the robot effectively.