Design, modeling, performance optimization, and prototyping of a novel planar-spatial 2-DOF parallel robot

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Abstract
This paper presents the design, analysis, dynamic dimensional synthesis, and prototype development of a novel 2-degree-of-freedom (2-DOF) parallel robot actuated by prismatic pairs. First, the proposed robot, designated as “TGU-SV2”, is introduced; it features prismatic actuation and spatial V-shaped passive limbs. This mechanism is designed to be modular, allowing integration with auxiliary modules to expand its DOFs. The forward and inverse kinematics, along with velocity and acceleration models, are derived to establish the Jacobian mapping relationships among the moving components. Based on these kinematic formulations, both simplified and exact rigid-body dynamic models are developed. The validity of these models is rigorously verified through co-simulations using SolidWorks and MATLAB/Simscape. Furthermore, three dynamic performance indices characterizing inertial forces, centrifugal/Coriolis forces, and gravitational terms are systematically formulated, subject to geometric and motion constraints. Monotonicity analysis and a genetic algorithm are then employed to determine the optimal dimensional parameters. Finally, a physical prototype is fabricated based on the optimized design, and preliminary performance tests are conducted. The test results show that the prototype can basically complete trajectory tracking, demonstrating its potential for applications in logistics sorting and industrial production, as well as laying a foundation for more refined prototype control in subsequent research.

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