SUMMARYConventional planar manipulators have their links in a single plane. Increasing payload at the end effector/mobile platform can induce high stress in the links due to the cantilever nature of links. Thus, it limits the total vertical load that can be applied on the mobile platform. In contrast to the links in conventional planar parallel mechanisms, non-planar links are proposed in this paper, that is, links are made inclined to the horizontal plane and non-planar legs are constructed. Though the links are made non-planar, the end effectors’ planar motion is retained. For studying the application of such non-planar links in planar manipulators, new models of inertia, stiffness and leg dynamics have to be developed. In this article, these models are developed by the static analysis of the planar manipulators with non-planar links, and the performance is compared with the corresponding conventional planar manipulators.

中文翻译：

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平面并联机器人空间（非平面）链接的静态特性分析

发明内容传统的平面操纵器在单个平面中具有它们的链接。由于链接的悬臂性质，增加末端执行器/移动平台的有效载荷会在链接中引起高应力。因此，它限制了可以在移动平台上施加的总垂直载荷。与传统平面并联机构中的连杆相比，本文提出了非平面连杆，即使连杆向水平面倾斜并构造非平面腿。虽然链接是非平面的，但末端执行器的平面运动被保留。为了研究这种非平面连杆在平面机械手中的应用，必须开发新的惯性、刚度和腿动力学模型。在本文中，这些模型是通过对具有非平面链接的平面机械手进行静态分析而开发的，