STRUCTURAL AND PARAMETRIC SYNTHESIS OF A PLANAR PARALLEL MANIPULATOR WITH TWO END-EFFECTORS
In this article the methods of structural and parametric synthesis of a planar parallel manipulator with two end-effectors are presented. This parallel manipulator is formed by connecting the two moving output objects with the fixed base by two passive, one active and two negative closing kinematic chains. Geometrical parameters of the active and negative closing kinematic chains are determined by the Chebyshev and least-square approximations.