AN EXPERIMENTAL STUDY ON 3 – DOF TRIPOD PARALLEL MANIPULATOR

Authors

  • Arockia Selvakumar A Department of Mechanical Engineering, Sri Venkateswara College of Engineering, Pennalur, Sriperumbudur – 602105
  • Sivaramakrishnan R Department of Production Technology, MIT Campus, Anna University, Chennai- 600044
  • Kalaichelvan K Department of Production Technology, MIT Campus, Anna University, Chennai- 600044

Keywords:

Tripod, Parallel manipulator, Kinematic Synthesis

Abstract

Parallel manipulators are more suitable for applications in which the requirements for accuracy, rigidity, payload to weight ratio and load distributions are more important than the need for large workspace. The aim of this paper is to perform the modeling and dimensional synthesis of a 3 - DOF tripod parallel manipulator. The model was modeled and analyzed by considering the payload and working conditions. The designed model was modeled and simulated by using ADAMS®. The concept involved in this paper is based on the transformation of motion between screw pair and the spherical pair through the links. The links are connected to the screw pair, which is actuated by stepper motors. A set of kinematic equations was formulated for the parallel manipulator. An algorithm was written in C for interfacing it with the computer. The values obtained by experimental method were further compared with the analytical method and ADAMS. Dimensional synthesis of parallel manipulator was carried out by considering the parameters like link length and moving platform radius. The dimensional synthesis was taken in to account for determining the suitable dimensions of mechanisms by logical approach.

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References

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Luc Berar, Jeorge Angles, 2000,”The Kinematics of a parallel manipulator under Joint – Sensor Redundancy”, IEEE Transactions of Robotics and Automation, Vol.16, (1), 12-19

Meng – Shiun Tsai, Ting-Nung Shiau, 2003, “Direct Kinematic Analysis of a 3 –PRS Parallel Mechanism”, Mechanism and Machine Theory, Vol.38, (1), 71-83.

Sivaramakrishnan R, Kalaichelvan K, and Dhanraj R (2000), “Kinematics and Construction of 3-DOF Parallel Manipulator”, Proceeding of International Conference on Intelligent Flexible Autonomous Manufacturing Systems (IFAMS 2000), 789-795.

ArockiaSelvakumar A and Sivaramakrishnan R, (2009), “Modelling, Simulation and Synthesis of 3 – DOF Tripod Parallel Manipulator”, Proceedings of 2nd International Conference on Recent Advances in Material Processing Technology (RAMPT ’09), 318 – 323.

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Published

2010-03-01

How to Cite

[1]
A. S. A, S. R, and K. K, “AN EXPERIMENTAL STUDY ON 3 – DOF TRIPOD PARALLEL MANIPULATOR”, JME, vol. 5, no. 1, pp. 11–16, Mar. 2010.

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