Kinematic Analysis and Design of a 3-DOF Translational Parallel Robot

作     者：Mahmood Mazare Mostafa Taghizadeh M. Rasool Najafi 

作者机构：School of Mechanical Engineering Shahid Beheshti University Tehran lran Department of Engineering University of Qom Qom Iran 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2017年第14卷第4期

页      面：432-441页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Kinematic analysis parallel robot workspace manipulability dexterity. 

摘      要：Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems （ADAMS） software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index （GDI） of the robot is calculated using Jacobean matrix at different positions of the mobile platform.