Optimal design of a 2-DOF planar parallel manipulator

This paper deals with the optimal dimensional synthesis of a PRRRP parallel manipulator which is horizontally actuated by linear actuators. The asymmetric parallel mechanism has five geometric parameters, including three link lengths of each link, the angle between two links among them and the offset distance of the two sliding guides. The optimization process is done under the premise of the limited manipulator´s workspace which limits the motion range of the two actuators for the purpose of reducing the machine volume. The kinematic optimality of the two degrees of freedom translational parallel robot is achieved by maximizing the minimum mechanical advantage. This manipulator can be used as the basic unit of special giant tire building drum and heavy haul lifting mechanism in some occasions.