طراحي ايزوتروپي و بررسي دقت سينماتيكي يك روبات موازي صفحه اي با كاربردهاي ماشين ابزاري

Isotropic Design and Kinematics Accuracy of a Planar Parallel Manipulator with Machine Tool Applications

In this paper a planar parallel manipulator, for machine tools applications, is introduced. high stiffness, nonexistence of singular cases in its workspace and relatively large workspace are its main advantages. Using the isotropy criterion, isotropic designs of the manipulator is given. Moreover, the global conditioning index (GCI) of the manipulator, throughout its workspace is happened to be pretty well which make it suitable for any high precision work such as machine tool applications.