This paper presents a numerical approach on kinematic analysis of 3-DOF parallel manipulator (PM). The proposed mechanisms constitute of PRS (Prismatic-Revolute-Spherical) parallel mechanism with two rotations and one translation. The forward and inverse kinematic equations of the PM are derived by position vector method. A total of 48 solutions are obtained for the forward kinematic equations using MATLAB.

Arockia Selvakumar

Mechanical

School of Mechanical Engineering

Chennai Campus

Fulltext

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VIT University

International Journal of Engineering & Technology

Parallel manipulators are characterized as closed loop kinematic chain mechanisms, as they are connected parallel to the base via numerous independent chains. This research work is focused on the model of 3-RPR parallel manipulator using electromechanical linear actuator to achieve the precise positioning. The kinematics equations are derived based on vector approach. The inverse kinematics equations are solved using MATLAB. The proposed parallel manipulator is simulated to find various movable platform positions with respect to various linear actuator lengths using Solid Works CAD package. Further, to verify the results obtained from mathematical, simulation a prototype model has developed. To achieve the accurate link lengths and to attain precise position, the kinematic results are validated with experimental results. Experiments were carried out for position analysis and to find out the angle of inclination of movable platform with respect to Y-axis for precise positioning. In future work, the developed parallel manipulator can be used for angular machining applications. © 2018, Institute of Advanced Scientific Research, Inc. All rights reserved.

Procedia Engineering

Experimental Investigation on Position Analysis of 3 – DOF Parallel Manipulators

Periodica Polytechnica Mechanical Engineering

Lagrangian Dynamics Analysis of a XY-Theta Parallel Robotic Machine Tool

Mechanical Sciences

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

Journal	International Journal of Engineering & Technology
Publisher	Science Publishing Corporation
ISSN	2227524X
Open Access	Yes