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DEXTERITY INDICES OF 6-UPS PARALLEL MANIPULATORIAEME Publication

Design and analysis of x y-q positioning stage based oneSAT Publishing House

Design and analysis of x y-q positioning stage based oneSAT Publishing House

FYP MechanicalKhashayar Tayebi

Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals

Modeling and control approach to a distinctive quadrotor helicopterISA Interchange

- TO STUDY AND DEVELOP A PROTOTYPE MODEL OF PARALLEL MANIPULATORS M.Muralidhar
- Outline: • Abstract • Introduction • Literature Review • Advantages • Applications • References
- ABSTRACT: Parallel manipulators increase quality because of their large payload carrying capacity, high stiffness, high accuracy and good precision in positioning. Several parallel manipulators with 6-degree of freedom were developed. But 6 dof manipulators have complicated analysis and moreover distinct applications requires less then 6 -dof such as surgical manipulators, 3 -dof are flight simulations, etc. Parallel manipulators like 3-dof, 4-dof or may be 5-dof. A intended position analysis of spatial parallel manipulator consists of 3-6 identical limbs , Base platform, Mobile platform, revolute joints, prismatic joints and spherical joints. In the present task intended to carry out, the positional analysis of spatial parallel manipulators have to be analyzed. All the possible solutions of this initial analysis are calculated by changing the limb lengths through linear actuators. modeling and simulation done in Catia.
- • INTRODUCTION: * Spatial multi-degree of freedom mechanisms *The motion characteristics may be planar, spherical [or] special type . *The kinematic structure is made up of a closed loop mechanism. * Each joint must be revolute [R] or prismatic[P] and mobility of each joint must be one. * 6 Dof parallel manipulators such as Stewart – Gough platform type and Stewart universal type test machines
- • Stewart platform is six degree of freedom parallel mechanisms that consists of rigid body moving plate, connected to fixed base plate through six independent kinematic legs. • Each leg contain precision ball-screw assembly and a DC-motor. Thus, length of the legs is variable and they can be controlled separately to perform the motion of the moving platform
- • Positional analysis o Kinematic analysis a) forward kinematics • b) inverse kinematics Dynamic analysis a) forward Dynamics b) inverse Dynamics
- :literature review • Nalluri Mohan Rao and Mallikarjuna Rao R F (2006) “ Multi Dimensional Synthesis of spatial 3-RPS Parallel Manipulators “, In this work the inverse kinematics solutions are derived from the closed form . All possible solutions of this initial analysis are calculated by change in limb lengths through linear actuators, and also position and orientation equations of mobile platform with respect to fixed base platform are analyzed. • Stewart D ‘ A Platform with six Degree of Freedom ‘ says that describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation of control surfaces into the axes of the new attitude.
- • Khalid ali Abdelaziz and Yung liu studied to find the limb lengths of 3 Dof parallel manipulators can be found by using Matlab coding to solve the non linear equations using inverse kinematics and position analysis of also donethe 3 dof parallel manipulator.
- • Lee Kand shah D K , “Kinematic Analysis of a Three Degree of Freedom In – parallel Activated Manipulator “, this work studied forward and inverse kinematics of parallel manipulators . • Lee Kand shah D K , “Dynamic Analysis of a Three Degree of Freedom In – parallel Activated Manipulator “, this work studied dynamic analysis of parallel manipulators to control the movement of the limbs.
- • Xiaoyong Wu , Zhijiang Xie jorgen Asboll Kepler work presents model 3PPR Plane parallel mipulators, aiming to optimize the shape design of the base and moving platform. A case study included to demonstrate the dynamic performance with an optimal performance shape design. • Selcuk Kizir and zafer Bingul study indicates a high precision 6 DOF Stewart platform is controlled by a PID and sliding mode controller . These controllers are embeded in a Dspace DS1103 real time controller which is programmable in the Simulink environment this study can be an example shows that how a real time controller can be developed by using Matlab / Simulink and Dspace DS1103.if non linear extenal forces applied to moving platform, control performance of the SMC will be better then PID.
- ADVANTAGES • Parallel manipulators are high stiffness • high accuracy • High speed • Low inertia • Large payload carrying capacity • Good precision in positioning
- APPLICATIONS: • Parallel manipulators are such as airplane simulators • Mining machines • Walking machines • Adjustable articulated trusses • Pointing devices • Robot manipulators • Micro manipulators • Tunnel borer • Barbette of warship
- • Satellite surveillance platform • Parallel machine tools surgical manipulators • Three degree of freedom sensors • Medical applications • Industrial applications
- REFERENCES • Lee K and Shah D K (1987) “Kinematic Analysis of a Three Degree Freedom In – Parallel Manipulators “,in proceedings of the IEEE International Conference on Robotics and Automation, Vol.1,pp.345-350 • Lee K and Shah D K (1987) “Dynamic Analysis of a Three Degree Freedom In – Parallel Manipulators “, IEEE Trans. Rob. Autom., Vol.4,pp.361-367 • Nalluri Mohan Rao K and Mallikarjuna rao RF (2006) “ Dimensional Synthesis of Spacial 3-RPS Parallel manipulator for a Prescribed range of motion of Spherical joints “, J.nof Mechanisms of Machne theory, vol.125,pp.447-486. • Nalluri Mohan Rao K and Mallikarjuna rao RF (2006) “Multi – position Dimensional Synthesis of Spacial 3-RPS Parallel manipulator for a Prescribed range of motion of Spherical joints “, J.nof Mechanisms of Machne theory, vol.128,pp.815-819 • Stewart D (1965) .”A Platform with Six Degree of freedom”, Proc.inst.mech . Engg ,vol.180,NO.15,pp.371-386 • Younong Gong “ Design Analysis of a Stewart Platform for Vehicle Emulator Systems” Massachusetts Institute of technology
- • Xiaoyong Wu , Zhijiang Xie , Jorgen Asbol Kepler Shoping Bai work A Parametric model of 3 PPR planar parallel manipulators for optimum shape design of platform • Yangmin li and Qingsong Xu R F (2006), “Kinematic Analysis and Design of a New 3-Dof Translational Parallel Manipulator”.J.of ASME,vol128,pp.729-737. • Yuefa Fang and Lung –Wen Tsai R F (2004) , “structural synthesis of a class of 3-dof Rotational Parallel Manipulaters”,J.OF IEEE,vol.20,pp.117-121.
- Thank You

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