International Journal of Innovation and Scientific Research
ISSN: 2351-8014
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Optimal Workspace Design of 2-DOF Parallel Manipulator

Volume 18, Issue 1, September 2015, Pages 141–151

 Optimal Workspace Design of 2-DOF Parallel Manipulator

Khaing Win Phyu, Nu Nu Win, and Theingi

Original language: English

Received 21 June 2015

Copyright © 2015 ISSR Journals. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The parallel manipulator (PM) is made up of five-bars, two prismatic joints and three revolute joints, where two prismatic joints that are attached to the base. In this paper, PM designed as lightweight manipulator to provide an alternative high-speed writing positioning mechanism to serial architecture manipulator. Lightweight mechanism is more likely to exhibit structural defection and vibrate due to the force from high-speed motion and external force from actuators. This paper proposes a new method of modeling and simulation of 2-DOF (degree-of-freedom). PM with flexible links calculated base on SolidWorks, MATLAB, C# programming language. PM builds up with direct and inverse kinematic. The servo motor (Futaba-S3003) constructed under the environment of the controller (Arduino Pro-mini) to satisfy the performance requirement for making the end-effector track within the determined workspace. The determined workspaces are calculated by Geometric Analysis equations. End-effector points are shown by applying MATLAB. In additional the hardware result shows that the controller can control the movement of the robot effectively.

Author Keywords: 2-DOF, Arduino Pro-mini, Futaba S3003, MATLAB, PM, SolidWorks.

How to Cite this Article

Khaing Win Phyu, Nu Nu Win, and Theingi, “Optimal Workspace Design of 2-DOF Parallel Manipulator,” International Journal of Innovation and Scientific Research, vol. 18, no. 1, pp. 141–151, September 2015.