Dynamics Analysis of a 2-DOF Planar Translational Parallel Manipulator
نویسندگان
چکیده
منابع مشابه
Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator
Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rot...
متن کاملMechatronic design of a 3-DOF parallel translational manipulator
This paper presents the development steps of a fast manipulator, up to the building of the experimental device, in a context of mechatronic design which implies the integration of several engineering disciplines. High performance of the manipulator has been achieved by means of the suitable integration of the mechanical part and the drive part. For the mechanical part we choose a 3-dof parallel...
متن کاملDesign Optimization of a 3 DOF Translational Parallel Manipulator
This paper presents an optimal kinematic design of a 3PRC (prismatic-revolute-cylindrical) spatial translational parallel manipulator with inclined actuator arrangement by formulating a multi-objective optimization problem. Three performance criteria’s namely Global Conditioning Index (GCI), Global stiffness Index (GSI) and Workspace volume are considered as the objective functions. A multi-obj...
متن کاملModeling and Analysis of a 2-DOF Spherical Parallel Manipulator
The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using...
متن کاملKinematic and Dynamic Analysis of Tripteron, an Over-constrained 3-DOF Translational Parallel Manipulator, Through Newton-Euler Approach
In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of The Korean Society of Manufacturing Technology Engineers
سال: 2013
ISSN: 2508-5093
DOI: 10.7735/ksmte.2013.22.2.185