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Modelling And Simulation Of 3-Dof UPS Tripod Parallel Manipulator Using Adams

Arockia Selvakumar A.*, R. Sivaramakrishnan**, K. Kalaichelvan***

Periodicity:May - July'2010
DOI : https://doi.org/10.26634/jfet.5.4.1285

Abstract

In the area of parallel robots, the use of lower-mobility parallel manipulators for many tasks requiring fewer than six degrees of freedom has drawn a lot of interest. This paper work focuses on the modeling and simulation of 3 - UPS (Universal — Prismatic — Spherical) Tripod Parallel Manipulator. This tripod mechanism consists of base platform and movable platform, which are connected by means of three links or limbs. Spherical joints are used to connect one end of the link and the moving platform and the other end of the link is connected by universal joint to the half nut. This tripod type Parallel Manipulator is having two orientation freedoms and one translation freedom, which is actuated by means of screw pair, which in turn is operated by a stepper motor. The Parallel Manipulator is modeled and simulated by using ADAMS®. The results are obtained by considering the link length, initial angle between the link and base platform, moving platform radius and keeping the other parameters like nut size and screw dimensions constant. By performing the simulation, the displacement, angle of tilt and orientation of the moving platform are found graphically. Dimensional synthesis is carried out by considering various link length and moving platform radius to obtain maximum tilt of the mechanism.

Keywords

UPS,Parallel manipulator,Synthesis,Simulation mechanism,ADAMS.

How to Cite this Article?

Selvakumar, A. A., Sivaramakrishnan,R., and Kalaichelvan, K. (2010). Modelling and Simulation of 3-Dof UPS Tripod Parallel Manipulator Using Adams. i-manager’s Journal on Future Engineering and Technology, 5(4), 41-47. https://doi.org/10.26634/jfet.5.4.1285

References

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