The Test of 2 DOF Planar Parallel Manipulator
Description
Planar parallel manipulator (PPM) is a common type of robot, mainly used in spray paint and material transport. Although the structure of PPM is simple, it's hard to design it due to the nonlinear characteristic of linkage mechanisms. I recommend that we can analyze the transmissibility of mechanism to determine the dimensions of links, as shown in the references. Input: 2 white tubes Output: yellow end link Dimensions: 135 * 200 * 175 mm^3 Contact plane clearance: 0.2 - 0.25 mm 平行連桿手臂是常見的機械手臂，主要用在烤漆與搬運上。 此類手臂雖然結構簡單，但由於連桿機構的非線性特徵導致最佳化設計有難度。 我建議可分析傳遞效率來決定所需的連桿與角度尺寸，詳見參考資料。 輸入：二白色圓管 輸出：黃色端桿 尺寸：135 * 200 * 175 mm^3 接觸面間隙：0.2 - 0.25 mm Youtube: https://youtu.be/pQ_CdrepHeo
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