Kinematic analysis of three-degrees-of-freedom parallel manipulator with crank arm actuator

Author

Nabi, Hafiz Noor ; Ullah, S. ; Munir, Achmad

Author_Institution

Dept. of Aeronaut. & Astronaut., Inst. of Space Technol., Islamabad, Pakistan

fYear

2014

fDate

14-18 Jan. 2014

Firstpage

182

Lastpage

188

Abstract

This paper presents a novel design of a three-degrees-of-freedom parallel manipulator. This manipulator has a crank arm type actuator instead of linear actuator, which is moved by means of servo motors. It has two degrees of orientation (Pitch and Roll) and one degree of translatory motion (Heave). Design is based on crank arm type actuator which can reduce the manufacturing cost without compromising on accuracy and precision. This paper develops an analytical method to analyze the basic kinematic equations of manipulator. Results are implemented using Matlab and are presented in graphical form; moreover Maplesoft MapleSim 6.1 was used for simulation purposes.

Keywords

actuators; design engineering; manipulator kinematics; mechanical engineering computing; servomotors; Maplesoft MapleSim 6.1 software; Matlab software; analytical method; basic kinematic equations; crank arm actuator; heave translatory motion; kinematic analysis; linear actuator; manufacturing cost reduction; orientation degree; parallel manipulator design; pitch orientation; roll orientation; servomotors; three-degrees-of-freedom parallel manipulator; translatory motion degree; Actuators; Equations; Joints; Kinematics; Manipulators; Mathematical model; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Sciences and Technology (IBCAST), 2014 11th International Bhurban Conference on

Conference_Location

Islamabad

Type

conf

DOI

10.1109/IBCAST.2014.6778143

Filename

6778143