Commenced in January 2007
Paper Count: 31108
Two Spherical Three Degrees of Freedom Parallel Robots 3-RCC and 3-RRS Static Analysis
Abstract:The main purpose of this study is static analysis of two three-degree of freedom parallel mechanisms: 3-RCC and 3- RRS. Geometry of these mechanisms is expressed and static equilibrium equations are derived for the whole chains. For these mechanisms due to the equal number of equations and unknowns, the solution is as same as 3-RCC mechanism. A mathematical software is used to solve the equations. In order to prove the results obtained from solving the equations of mechanisms, the CAD model of these robots has been simulated and their static is analysed in ADAMS software. Due to symmetrical geometry of the mechanisms, the force and external torque acting on the end-effecter have been considered asymmetric to prove the generality of the solution method. Finally, the results of both softwares, for both mechanisms are extracted and compared as graphs. The good achieved comparison between the results indicates the accuracy of the analysis.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1107539Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1636
 G. O. Young, "Synthetic structure of industrial plastics (Book style with paper title and editor)," in Plastics, 2nd ed. vol. 3, J. Peters, Ed. New York: McGraw-Hill, 1964, pp. 15–64.
 H. McCallion, and D. T Pham. "The analysis of a six degree of freedom work station for mechanized assembly." Proc. 5th World Congress on Theory of Machines and Mechanisms. Vol. 611. 1979.
 K. H. Hunt, "Structural kinematics of in-parallel-actuated robot-arms." Journal of Mechanical Design 105.4 (1983): 705-712.
 C. Gosselin, "Determination of the workspace of 6-DOF parallel manipulators." Journal of Mechanical Design 112.3 (1990): 331-336.
 E. F. Fichter, "A Stewart platform-based manipulator: general theory and practical construction." International Journal of Robotics Research, 1986, 5(2), 157.
 D. E. Whitney, "Force feedback control of manipulator fine motions." Transactions of ASME, Journal of Dynamic Systems, Measurement and Control, 1972, Dec, 303±309.
 S. Bhattacharya, H. Hatwal, and A. Ghosh. "Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators." Mechanism and Machine Theory 33.7 (1998): 965-974.
 X. Kong, C.M. Gosselin, "Generation of Parallel Manipulators with Three Translational Degrees of Freedom using Screw Theory." In Proceedings of the CCToMM Symposium on Mechanisms 2001.
 J. Hervé, "The Lie group of rigid body displacements, a fundamental tool for mechanism design." Mechanism and Machine Theory, Vol. 34, No. 5, pp. 719-730, 1999.
 X. Kong, C. M. Gosselin, "Type synthesis of 4-DOF SP-equivalent parallel manipulators: A virtual chain approach." Mechanism and Machine theory, Vol. 41, No. 11, pp. 1306-1319, 2006.
 X. Kong, C. M. Gosselin, "Type Synthesis of Parallel Mechanisms." Springer, pp. 141-157, 2007.
 H. H. Pham, I.-M. Chen, "Kinematics, workspace and static analyses of a 2-DOF flexure parallel mechanism," In Proceeding of IEEE, 2002, pp. 968-973.
 G. Lu, A. Zhang, J. Zhou, S. Cui, L. Zhao, "The Statics Analysis and Verification of 3-DOF Parallel Mechanism Based on Two Methods." International Journal of Automation Technology, Vol. 7, No. 2, pp. 237- 244, 2013.
 M. T. Masouleh, C. Gosselin, M. H. Saadatzi, X. Kong, H. D. Taghirad, "Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms." Meccanica, Vol. 46, No. 1, pp. 131-146, 2011.
 M. T. Masouleh, C. Gosselin, M. Husty, D. R. Walter, "Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures." Mechanism and Machine Theory, Vol. 46, No. 7, pp. 945-959, 2011.
 X. Kong and C. Gosselin. "Type synthesis of parallel mechanisms." Vol. 33. Heidelberg: Springer, 2007.