Simulation and Workspace Analysis of a Tripod Parallel Manipulator

Authors: A. Arockia Selvakumar, R. Sivaramakrishnan, Srinivasa Karthik.T.V, Valluri Siva Ramakrishna, B.Vinodh.

Abstract:

Industrial robots play a vital role in automation however only little effort are taken for the application of robots in machining work such as Grinding, Cutting, Milling, Drilling, Polishing etc. Robot parallel manipulators have high stiffness, rigidity and accuracy, which cannot be provided by conventional serial robot manipulators. The aim of this paper is to perform the modeling and the workspace analysis of a 3 DOF Parallel Manipulator (3 DOF PM). The 3 DOF PM was modeled and simulated using 'ADAMS'. The concept involved is based on the transformation of motion from a screw joint to a spherical joint through a connecting link. This paper work has been planned to model the Parallel Manipulator (PM) using screw joints for very accurate positioning. A workspace analysis has been done for the determination of work volume of the 3 DOF PM. The position of the spherical joints connected to the moving platform and the circumferential points of the moving platform were considered for finding the workspace. After the simulation, the position of the joints of the moving platform was noted with respect to simulation time and these points were given as input to the 'MATLAB' for getting the work envelope. Then 'AUTOCAD' is used for determining the work volume. The obtained values were compared with analytical approach by using Pappus-Guldinus Theorem. The analysis had been dealt by considering the parameters, link length and radius of the moving platform. From the results it is found that the radius of moving platform is directly proportional to the work volume for a constant link length and the link length is also directly proportional to the work volume, at a constant radius of the moving platform.

Keywords: Three Degrees of freedom Parallel Manipulator (3DOF PM), ADAMS, Work volume, MATLAB, AUTOCAD, Pappus- Guldinus Theorem.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1082967

References:

[1] C. M. Gosselin and J. Angeles, "Singularity analysis of closedloop kinematic chains," IEEE Trans. Robot. Autom. 6(3), 281-290 (1990).
[2] J.Wu, J.Wang, T. Li and L.Wang, "Analysis and application of a 2-DOF planar parallel mechanism," J. Mech. Design 129(4), 434-437 (2007).
[3] F. Gao, X. Zhang, Y. Zhao and H.Wang, "A physical model of the solution space and the atlases of the reachable workspaces for 2-DOF parallel plane wrists," Mech. Mach. Theory 31(2), 173-184 (1996).
[4] X. J. Liu, J. S. Wang and G. Pritschow, "Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms," Mech. Mach. Theory 41(2), 145-169 (2006).
[5] S. P. Bai, M. Y. Teo,W. S. Ng and C. Sim, "Workspace analysis of a parallel manipulator with one redundant dof for skull-base surgery," IEEE International Conference on Intelligent Robots and Systems (2001) pp. 1694-1699.
[6] I. A. Bonev and C. M. Gosselin, "Analytical determination of the workspace of symmetrical spherical parallel mechanisms," IEEE Trans. Robot. 22(5), 1011-1017 (2006)
[7] Li, Y., and Xu, Q., 2005, "Kinematic Analysis of a New 3-DOF Translational Parallel Manipulator," Proceedings of ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2005-84299, Long Beach, California, Sept. 24-28,
[8] 2. Li, Y., and Xu, Q., 2005, "Kinematic Design of a Novel 3-DOF Compliant Parallel Manipulator for Nanomanipulation," Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 93-98.
[9] Jim Wook Kim and Park J.C (2000), "Direct Kinematic analysis of 3-PRS Parallel Mechanisms", Elsevier Publications, Mechanism and Machine Theory, Vol.35, pp.1121 - 1134.
[10] Sivaramakrishnan R., Kalaichelvan K. And Dhanraj R. (2000), "Kinematics and construction of 3-DOF Parallel Manipulator", Proceeding of International Conference on Intelligent Flexible Autonomous Manufacturing Systems (IFAMS 2000), pp.789-795).
[11] Yangmin Li, Qingsong Xu (2006), "Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator", Vol.128 in Journal of Mechanical Design, pp - 729-734.
[12] I. A. Bonev, D. Zlatanov and C. M. Gosselin, "Singularity analysis of 3- DOF planar parallel mechanisms via screw theory," ASME, J. Mech. Design, 125(3), 573-581 (2003).
[13] D. Zlatanov, R. G. Fenton and B. Benhabib. "Identification and classification of the singular configurations of mechanisms," Mech. Mach. Theory 33(6), 743-760 (1998).
[14] Ki lee and Kun Woo park, "Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities", in IEEE Transactions on robotics and Automation, December 1999, Vol. 15, no.6, pp 1024-1034.
[15] Pierrot, Fournier and Dauchez, "Toward a fully parallel 6-DOF robot for high speed applications," in IEEE Transactions on robotics and Automation, Feb.1992, vol.7, pp. 15-22.
[16] H. Bruyninckx, "A fully parallel manipulator with closed form position and velocity kinematics," in Proc. IEEE int. Conf. Robot. Automation, Albuquergue, NM, Apr.1997, pp. 2657-2662.
[17] R.Clavel, "DELTA, a fast robot with parallel geometry," in Proc. 18th int. Symp. Industrial Robot, Lausanne, Switzerland, Apr. 1988, pp. 91- 100.