| Parallel manipulators are closed-loop linkages with multiple degrees of freedom. Compared with serial manipulators, parallel manipulators have high operational speed, high load bearing capacity, high output precision and relatively low costs. Although their output versatility is not as high as their corresponding serial manipulators, they can still satisfy the requirement in many industrial applications.;Two-DOF five-bar linkages are the simple and popular parallel manipulators, which include three typical configurations, RRRRR, RRRRP and RRRPP. In this thesis, the feasibilities of the three parallel manipulators are studied in order to avoid uncertain singularity during their operations. Based on the feasibility conditions, the manipulators are systematically classified, and their workspaces are derived. The singularity-free path generation capabilities of two-DOF five-bar parallel manipulators are established.;Two-DOF parallel manipulators can be effective path generators if they are properly designed. The research results from this thesis can be used for guiding the configuration selection, dimensional synthesis, motion analysis and control of two-DOF parallel manipulators for different configurations. |
