SYNTHESIS OF A NOVEL FIVE-DEGREES-OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR

被引：0
|
作者：
Dharmalingum, W. E. [1 ]
Padayachee, J. [1 ]
Bright, G. [1 ]
机构：
[1] Univ KwaZulu Natal, Sch Engn, Discipline Mech Engn, Durban, South Africa
来源：
SOUTH AFRICAN JOURNAL OF INDUSTRIAL ENGINEERING | 2021年 / 32卷 / 01期
基金：
新加坡国家研究基金会;
关键词：
DESIGN; MACHINE; MECHANISM; TOOL;
D O I：
10.7166/32-1-2382
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents the design and analysis of a novel five degrees-of-freedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, and robotic machining applications. The 2-R(Pa-IQ)RR, R(Pa-IQ)R manipulator has two rotational DOFs, one parasitic rotation, and three translational DOFs. In comparison with other 5- and 6-DOF PKMs, this PKM possesses three pairs of coplanar legs that contain nested kinematic chains, and it makes exclusive use of revolute and prismatic joints. The inverse kinematic analysis is a novel extension of the geometric (vector) method with the analysis of inner and outer kinematic chains. The forward kinematic analysis was solved using the Newton Raphson (NR) method. The results of the forward and inverse kinematic analyses were validated with SolidWorks (R) and MATLAB (R) simulations.
引用
收藏
页码：131 / 143
页数：13
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