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Kinematic Analysis and Workspace of a New Four Legged 3-Dof Parallel Manipulator with No Parasitic Motions

Harish Mandalaparthy*, Mohan Rao N.**

* Research Scholar, Jawaharlal Nehru Technological University, Kakinada (JNTUK), Andhra Pradesh, India.

** Professor, Department of Mechanical Engineering & Controller of Examinations, Jawaharlal Nehru Technological University, Kakinada (JNTUK), Andhra Pradesh, India.

Periodicity:May - July'2016
DOI : https://doi.org/10.26634/jfet.11.4.8115

Abstract

All the 3-DOF (Degrees Of Freedom) parallel manipulators with three legs having three joints in each leg (3-PRS,3-PPS,3- PSP, and 3-RPS) are suffering from parasitic motions, and it is not possible to eliminate parasitic motions as they are inherent in their structure. In this present work, a new manipulator with three actuating legs (PSPR), and a passive constraint leg (PU) is proposed. As the actuations and constraints are separated, the constraint leg restricts the moving platform to move in unwanted directions and hence the parasitic motions are eliminated. Therefore, the manipulator is an accurate positioning device. The constituent equations are derived from the architecture of the manipulator. The problem of direct kinematics is solved and demonstrated through a numerical example. The inverse kinematics equations are differentiated with respect to time to obtain Jacobian matrices. Singularity analysis is carried out to identify singular positions. The workspace is represented in 3D space by taking rotation about x-axis as abscissa, rotation about yaxis as ordinate, and translation along z-axis as applicate.

Keywords

Parallel Manipulators, Kinematics, Singularity, Workspace, Parasitic Motions

How to Cite this Article?

Mandalaparthy, H., and Rao, N.M. (2016). Kinematic Analysis and Workspace of a New Four Legged 3-Dof Parallel Manipulator with No Parasitic Motions. i-manager’s Journal on Future Engineering and Technology, 11(4), 39-47. https://doi.org/10.26634/jfet.11.4.8115

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