OPTIMIZATION OF JOINTS AND LINKS IN PLANAR PARALLEL ROBOT MECHANISMS

Abstract

Now a day’s Robotic automation becomes a major driving force in modern industrial developments. The parallel robots,,also called hexapods or parallel kinematics machine (PKM) are closed- loop mechanisms presenting very good performance in term of accuracy, rigidity and ability to manipulate large load. This paper intends to present a comprehensive synthesis of the Design and optimization of a high Speed Planar Parallel robot. Applications for this type of robot include manufacturing and assembly where high speed and accuracy are required in a relatively small workspace. In present work robots are intended for pick-and-place applications that have a relatively large workspace. Although it was useful to know if certain robot configurations were inherently tension-able, the robot implementation would not be successful if the design parameters were not optimized properly. The  urpose of the paper is to prevail the fundamental for the new approaches to robotics, however, where the emphasis is on nderstanding and exploiting the dynamics of interactions with the world, it makes sense to measure and analyze the systems as they are situated in the world.