Volume 14, Issue 8 (11-2014)
Modares Mechanical Engineering 2014, 14(8): 28-36 |
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mahboobkhah M, Jaafarzadeh N. Title: Design and analysis of workspace and singularity of a 4 degree of freedom parallel robot. Modares Mechanical Engineering 2014; 14 (8) :28-36
URL: http://mme.modares.ac.ir/article-15-998-en.html
URL: http://mme.modares.ac.ir/article-15-998-en.html
1- University of Tabriz
Abstract: (6662 Views)
Parallel mechanisms are widely being used in industrial applications such as machine tool, metrology, earthquake simulator, fly simulator, medical equipment and etc. These mechanisms have some limitations like having erratic workspace, singular points in the workspace and complexity of control systems. These limitations should be studied for suitable usage of parallel mechanisms. In this article, a four degree of freedom parallel mechanism (three linear and one rotation degrees of freedoms) is proposed as machine tool and being studied and its workspace and singularity analysis are done by solving the kinematic relations and using Matlab software. So, at first the inverse and direct kinematic equations of mechanism were solved and then an algorithm is used to determine the workspace and singular points of proposed parallel mechanism. Finally, to investigate the results of workspace analysis the structure has been modeled in Solidworks software and the inverse kinematic relation and the obtained workspace have been validated using the simulation. At the last, to investigate the quality of robot performance and its dexterity in workspace, global condition index of mechanism using Jacobean matrix is calculated for different orientations of moving platform.
Article Type: Research Article |
Subject:
Dynamics, Cinematics & Mechanisms|robatic
Received: 2014/02/9 | Accepted: 2014/02/24 | Published: 2014/08/30
Received: 2014/02/9 | Accepted: 2014/02/24 | Published: 2014/08/30
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