@article{WU2007, 
author = {Jun WU and Tiemin LI and Xinjun LIU and Liping WANG},
title = {Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator},
year = {2007},
journal = {Tsinghua Science and Technology},
volume = {12},
number = {3},
pages = {269-275},
keywords = {planar parallel manipulator, global conditioning index, hybrid machine tool},
url = {https://www.sciopen.com/article/10.1016/S1007-0214(07)70040-8},
doi = {10.1016/S1007-0214(07)70040-8},
abstract = {Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2-DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.}
}