Modelling, Simulation and Dimensional Synthesis of Three Degrees of Freedom Triglide Parallel Manipulator

C. Dhandapani(1*), R. Sivaramakrishnan(2)

(1) Sr Lecturer, Rajagopal Polytechnic College, Gudiyattam-63262, India
(2) Sr Lecturer, Rajagopal Polytechnic College, Gudiyattam-63262, India
(*) Corresponding author


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

Abstract


This paper presents modelling, simulation and dimensional sysnthesis of a triglide type of 3 DOF parallel manipulator actuated by three screw pairs. The manipulator is constructed with a fixed base and a top movable platform, which are linked through three rigid links of equal lengths spaced at equal angular distances from each other. One end of each link is provided with a spherical pair and is attached to the movable platform and the other end to a screw pair through a nut with revolute joints. The three screw pairs are actuated individually by stepper motors. A model has been fabricated and experimental analysis were carried out to find the angular tilt of moving platform. In order to verify the experimental results the position kinematic analysis is performed. Further validation of the model is done through the software packages Pro-E and ADAMS, to simulate and to get the linear displacement of the nut and the angle of tilt of the moving platform. The results obtained from experimental, and simulation methods are verified and found to be closer in all the cases. This mechanism of parallel manipulator, no doubt shall find its way for performing applications like drilling inclined holes and angular machining
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


Kinematics; PRO-E; Dimensional Synthesis; Simulation; Triglide

Full Text:

PDF


References


R.Sivaramakrishnan, K.Kalaihelvan and R.Dhanaraj. Kinematics Analysis, Design and Construction of 3 Degrees of freedom Parallel Manipulator. Proceedings of International Conference on CARS&FOF, (2000), pp. 110-118,

Yangmin Li, Quingsong Xu, ‘Kinematic analysis of a 3-PRS parallel manipulator’ Elsevier, Robotics and Computer Integrated manufacturing 23 (2007)395-408.

K.H.Hunt. “Kinematic Geometry of Mechanisms”, Monash University of Victoria, Australia, 17-25. June(1997).

Tsai L W, The mechanics of serial and parallel manipulators (New York, Wiley).

J. Gallardo, R. Rodríguez, C.-R. Aguilar, L. Pérez, L. Casique, M. Caudillo, Forward Kinematics of the 3S-6S Spherical Stewart Platform by Means of Screw Theory, (2007) International Review of Mechanical Engineering (IREME), 1 (5), pp. 529 - 537.

Kok-Meng Lee and Dharman Shah K. (1990), ‘ Kinematic Analysis of a 3 DOF Manipulator’, IEEE Transactions of Robotics and Automation, Vol.4, No.3, pp.354-360

M. Ceccarelli, G.Carbone, An Optimization problem apparoach for designing both serial and parallel manipulators, Proc of MUSME (6-9 March 2005), Uberlandia, Brazil.

Sameer A. Joshi and Lung - Wen Tsai, ‘Jacobean Analysis of Limited-DOF parallel Manipulators’, Transactions of the ASME, Vol.12, No. 4, pp.272-278, (2002).

Zhumandial Baigunchekov Zh. and Raj Gill (2000), ‘Kinematics of the parallel manipulators with functionally independent drives’, International Conference on CARS and FOF 2000, Trinidad and Tobago,Vol.2, pp. 55-62.

Karabegovic, I., Dolecek, V., Husak, E., Analysis of the industrial robots in various production processes in the world, (2011) International Review of Mechanical Engineering (IREME), 5 (7), pp. 1272-1277.

C. Brisan, A. Capustiac, Development of a Calibration Algorithm for Parallel Robots, (2008) International Review of Mechanical Engineering (IREME), 2 (4), pp. 585 - 591.

Queen, M.P.F., Kumar, M.S., Aurtherson, P.B., Repetitive learning controller for six degree of freedom robot manipulator, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 286-293.

Njima, C.B., Mabrouk, W.B., Messaoud, H., Finite time observers for nonlinear system by solving LMIs problem: Application to the manipulator arm, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 270-279.

Prabhu, N., Anand, M.D., Alex, P.C., Integrated CAD/CAE/CAM and RP for Scorbot-ER Vu Plus Industrial robot manipulator, (2013) International Review of Automatic Control (IREACO), 6 (6), pp. 681-688.


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2021 Praise Worthy Prize