Performance Evaluation of a Two Degree of Freedom Micro Parallel Robot

In this paper a workspace and stiffness analysis for a two-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. The variation tendency of stiffness within the workspace is presented and the impact of variation of design parameters on the stiffness characteristics is given, that is helpful for the architecture design of a 2-dof parallel robot considering stiffness performance. We proposed a numerical procedure for determining and evaluating the workspace of the Bipod robot architecture. The analysis and algorithm can be used as a design tool to select dimensions, actuators and joints in order to maximize the workspace and improve stiffness within the workspace. This paper provides a basis for the architectural design of the 2-dof parallel robot with stiffness properties taken into account, which is necessary from the design point of view.