A novel 2-DOF planar parallel robot with high accelerate / high precision
Orient to urgently demand for high speed and high precision robot of advanced manufacture fields such as packaging and assembly of micro-electronic manufactures, a novel 2-DOF planar parallel robot is presented, which is driven directly by linear voice coil motors. Firstly, the optimum configuration is obtained based on conditioning index of Jacobian. Then optimal dimension design is performed based on the proposed comprehensive performance evaluation index, which integrating kinematic dextrous with dynamic manipulability together. The distribution of conditioning index, dynamic manipulability and acceleration over the workspace is analysed respectively according to optimal structure. Lastly experimental results demonstrated that the novel robot allows a workspace of 55times55 mm2 and an acceleration exceeding 12 g with repeatability better than 1.5 mum. The obtained technical characteristics indicate that the robot can satisfy the proposed application.