Continuum Isotropy Loci of a 2-DoF Parallel Kinematic Manipulator

Parallel Kinematic Machines (PKM) are interesting in industrial field because of their ability to ensure high dynamic performance, stiffness, accuracy and precision. One of the parameters used in the design phase of a manipulator relates the opportunity to ensure isotropic performance within the workspace. This paper presents a methodology to graphically identify the points of isotropy of a planar manipulator and defines the geometrical conditions to maximize the number. It is demonstrated that, for some configurations of the manipulator, continuum isotropy loci can be identified. Achieving this goal ensures the efforts related to the design of a manipulator are paid in terms of ability to work, as much as possible, with ideal kinematical conditions.