Abstract
In this paper, optimal design of a 2-DOF Parallel Kinematic Mechanism (PKM) is presented. This mechanism consists of three legs. Out of these three one is passive constraint leg and remaining two are act as active actuators. Inverse kinematics is first carried out in order to find the joint variables position for given tool position. The uniformity of the tool platform motion is found by Global Conditioning Index (GCI). Stiffness model for actuator assembly of the PKM is derived. Uniform stiffness of the PKM is obtained using Global Stiffness Index (GSI). Optimal dimensions of the PKM are obtained using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). Optimal dimensions of the PKM are obtained separately using single objectives of GCI and GSI. Finally inverse dynamics is presented using Lagrangian method. The Grand Total Actuator Force (GTAF) is computed for 2-DOF while the moving platform travels along a circular trajectory.
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