DocumentCode :
3720261
Title :
Static analysis of a 3-RRS and a 3-RSR Spherical Parallel Robots
Author :
Alireza Abbasi Moshaii;Mehdi Tale Masouleh;Esmail Zarezadeh;Kamran Farajzadeh
Author_Institution :
Mechanical Engineering, Tarbiat Modares University, Tehran, Iran
fYear :
2015
Firstpage :
800
Lastpage :
804
Abstract :
Static analysis of two 3-degree of freedom spherical parallel mechanisms, 3-RRS and 3-RSR, is the main purpose of this study. First, static equilibrium equations are derived for the whole chains. For this work geometry of these mechanisms are expressed. In these mechanisms, the number of equations and unknowns are equal and solved by MATLAB software. On the other hand, the CAD model of these mechanisms have been simulated and their static are analyzed in a computer algebra system. By comprising the results obtained from solving the equations of mechanisms by the results obtained from ADAMS, the accuracy of the work is proved. The forces acting on the end-effector have been considered asymmetric to prove the generality of the solution method. This is also performed for external torques.
Keywords :
"Mathematical model","Manipulators","Parallel robots","Design automation","Solid modeling","Force"
Publisher :
ieee
Conference_Titel :
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
Type :
conf
DOI :
10.1109/ICRoM.2015.7367885
Filename :
7367885
Link To Document :
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