American Journal of Mechanical Engineering
ISSN (Print): 2328-4102 ISSN (Online): 2328-4110 Website: Editor-in-chief: Kambiz Ebrahimi, Dr. SRINIVASA VENKATESHAPPA CHIKKOL
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American Journal of Mechanical Engineering. 2017, 5(6), 303-306
DOI: 10.12691/ajme-5-6-14
Open AccessArticle

Kinematic Analysis of Planar Parallel Mechanism

František Trebuňa1, Michal Kelemen2, Ivan Virgala2, and Alexander Gmiterko2

1Department of Applied Mechanics and Mechanical Engineering, Technical University of Košice, Faculty of Mechanical Engineering, Košice, Slovakia

2Department of Mechatronics, Technical University of Košice / Faculty of Mechanical Engineering, Košice, Slovakia

Pub. Date: December 15, 2017

Cite this paper:
František Trebuňa, Michal Kelemen, Ivan Virgala and Alexander Gmiterko. Kinematic Analysis of Planar Parallel Mechanism. American Journal of Mechanical Engineering. 2017; 5(6):303-306. doi: 10.12691/ajme-5-6-14


The paper deals with kinematic model of parallel mechanism equipped with elastic members. The main aim is to determine the workspace of particular point of the mechanism in order to designing of whole mechanism for the future. Whole mechanisms should consist of several same segments which creates concept of serial mechanism. Since there is investigated parallel mechanism, at first has to be solved inverse kinematic model in order to obtain generalized variables, which are necessary for direct kinematic model. In the paper Jacobian matrix is derived for investigated mechanism. Then the algorithm for inverse kinematic model is described. The inverse kinematic model uses damped least squares method which appears as suitable method for our purposes. The results of inverse kinematic solution is consequently used for direct kinematic model, which is described by homogeneous transformation matrices. The planar parallel mechanism is simulated in software Matlab and the results are expressed in the graphs as well as our approach is discussed in the conclusion.

actuator algorithm inverse kinematics parallel mechanism

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