AN EXPERIMENTAL STUDY ON 3 – DOF TRIPOD PARALLEL MANIPULATOR
Keywords:
Tripod, Parallel manipulator, Kinematic SynthesisAbstract
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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