On the Studies of Workspace Comparison between Two DoFSerial and Parallel Manipulator

This research includes the development of 2 DOF serial and parallel mechanisms which contains the development of CAD model, the forward and inverse kinematic analysis. The workspace of both serial and parallel mechanism will be developed so that the size of workspace can be compared. The comparison result gives an index number which represents the percentage of parallel mechanism workspace. On the second year, the serial mechanism and parallel mechanism will be manufacturing and assembly. The experiment will be conducted so the workspace of serial and parallel manipulator can be measured. The workspace volume between mathematical model and measurement will be compared. Finally, the difference between theoretical calculation and measurement will be analyzed. The reason of difference workspace volume will be discussed. The design parameter based on the two DOF serial and parallel mechanism such as joint type, linkage length will be built. The CAD model and kinematic model of the mechanism can be created base on the design parameters. After built the forward kinematic model, the position and orientation of end effector will be calculated by joint rotation angle. On the other hand, the inverse kinematic model will be created to compare the result of forward kinematic calculation. The reachable workspace volume of serial mechanism and parallel mechanism can be calculated. The workspace of parallel mechanism is limited the singular point problem. On the singular point, the mechanism looses it’s mobility which means the mathematical model is not able to solve correct corresponding solution. It is necessary to calculate the singular points can be found to ensure the workspace is correct. On the second phase, the prototype of both serial and parallel mechanisms will be manufactured so that the real workspace volume can be measured. The measured result will be compared with calculation value. Therefore, the difference between causation and experiment will be discussed. The causes will be analyzed to form a workspace volume index between two DOF serial and parallel mechanism

Project ID:PB9807-2070
External Project ID:NSC98-2221-E182-020