Author: Hüseyin Mutlu, İskender Özkul
Publishing Date: 2018
Volume 2 Issue 2
Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a two point, two velocity and three point position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically.
Keywords: Mechanism, Manipulator, robotic