Simulation and singularity analysis of 3-PRS parallel manipulator

Author

Arockia Selvakumar, A. ; Pravin Babu, R. ; Sivaramakrishnan, R.

Author_Institution

Dept. of Mech. Eng., Sri Venkateswara Coll. of Eng., Sriperumbudur, India

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

2203

Lastpage

2207

Abstract

This work focuses on the modelling and simulation of 3-PRS (Prismatic - Revolute - Spherical) Tripod Parallel Manipulator. This tripod mechanism consists of base platform and movable platform, which are connected by means of three links or limbs. Spherical joints are used to connect one end of the link and the moving platform and the other end of the link is connected by revolute joint to the nut. This tripod type Parallel Manipulator is having two orientation freedoms and one translation freedom, which is actuated by means of screw pair, which in turn is operated by a stepper motor. This proposed tripod mechanism is modelled and simulated by using ADAMS^®. The simulation results are obtained by considering the geometrical parameters, Transmission angle of the link and Singularity of the mechanism. From the simulation results a study is carried out based on torque at the joints, angular tilt and singular positions of the parallel manipulator.

Keywords

geometry; manipulators; stepping motors; 3-PRS parallel manipulator; 3-prismatic-revolute-spherical tripod parallel manipulator; ADAMS; angular tilt; base platform; geometrical parameters; movable platform; orientation freedoms; revolute joint; screw pair; singular positions; singularity analysis; spherical joints; stepper motor; torque; translation freedom; transmission angle; Joints; Kinematics; Manipulator dynamics; Mathematical model; Torque; 3-PRS; Manipulator; Simulation; Singularity; Transmission angle;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6285685

Filename

6285685