Workspace and kinematic structure analysis of a 6-DOF Lambda parallel kinematic machine
نویسندگان
چکیده
This paper presents workspace and kinematic analysis of a parallel machine based on the Lambda mechanism. The considered has six degrees freedom (DOF), achievable with actuated translation joints. includes definition every active part machine, as well or passive joint used to connect parts. mathematical model is created for better understanding machine's operation. proposed inverse equations, whose solving first step in analysis. In this case, offered active-joint variables, variable result one equation. Verification equations been done analytically, using MatLab software CAD/CAM system. Workspace analysis, most important parameters main topic paper. case two approaches are given. determine second total orientation machine. Polar coordinates simplify process
منابع مشابه
Orientation Workspace Analysis of a 3-DoF Planar Parallel Kinematic Machine
In this paper, kinematic and workspace analysis of 3-DoF planar Parallel Kinematic Machine (PKM) is carried out. The mechanism consists of three legs in which two legs have Prismatic-RevolutePrismatic joints and other leg has Prismatic-Prismatic-Revolute joints, it termed as 2-PRP and 1-PPR planar parallel kinematic machine. By these joints, the mechanism can achieve two translational motions a...
متن کاملDesign and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملCollision-Free Workspace Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Machine
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces an optimisation scheme based on the geometric approach for the wo...
متن کاملKinematic Mapping and Forward Kinematic Problem of a 5-DOF (3T2R) Parallel Mechanism with Identical Limb Structures
The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...
متن کاملDevelopment of Kinematic Equations and Determination of Workspace of a Chain Mechanism 6 Dof End-effector with Closed-kinematic
In this report, we present the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-efector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an itemtive pmedure employing Newton-Rap...
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: International journal of electrical engineering and computing
سال: 2022
ISSN: ['2566-3682']
DOI: https://doi.org/10.7251/ijeec2206001n