Design criteria of 2-DOF planar parallel manipulator with flexible joints

Design criteria of the parallel robots are required in order to perform the optimal design. This paper aims at proposing optimal design criteria for a planar parallel robot with flexible joints. Consequently, dynamic and elastodynamic criteria are examined with the purpose of analyzing their behavior as a function of the design variables that are the lengths of the links of the robot. The dynamic and elastodynamic design criteria are evaluated numerically.