MathematicalModelingandKinematicanalysisof3-RRR Planar Parallel Manipulator

EAI Endorsed Transactions on Energy Web

Shaik Saheb¹  G. Babu² 

[1] AssistantProfessor,DepartmentofMechanicalEngineering,FacultyofScienceandTechnology(IcfaiTech),TheICFAIFoundation for Higher Education, Hyderabad, India;Professor, Department of Mechanical Engineering, JNTUHCEH, Hyderabad, India;

关键词: 3rrr parallel planar manipulator;    workspace analysis;    regular dexterous workspace;    fabrication of 3rrr ppm model;    performance analysis;    stress analysis;    load-carrying capacity;    precise and accurate position;   

DOI  :  10.4108/eai.27-1-2021.168502

来源: DOAJ

【 摘 要 】

Parallelmechanismsarefoundaspositioningplatformsinseveralrobotmanipulatorapplicationstoolmanufacturingapplications. Today, various types of these mechanisms are classified based on the structure, type of joints, and degree of freedom.Animportantandbasicplanarmechanismprovidingthreedegreesoffreedomattheend-effector(movableplatform)isa3-RRRlinkage.Theforwardkinematicsinparallelmechanismsisamulti-solutionproblemandinvolvescumbersomecalculationscomparedtoinversekinematics.Withforwardkinematics,theinputkinematicparametersforanymanipulatorareknown,andtheendeffectorcoordinatemustbedetermined. Thekinematicequationsaregeneratedwithmechanicsprinciples, and Jacobianmatricesareformulated, Withthe Jacobianmatrix, theregularworkspaceand dexterousworkspaceanalysiscalculated.Themainobjectiveistofabricateamodelofthisplanarmanipulationmechanism with calculated dimensions and observe the practical workspace and dexterous workspace available at the end effector. The practical workspace and calculated workspace is presented in this paper. This final output data is useful for manipulator designers to design manipulators for different applications.In addition to this,the stress analysis is performed with Ansys software’s help to estimate the moving platform’s failure zone.

【 授权许可】

Unknown