Kinematic study of feasibility of geared planar parallel manipulator

Author:

Luputi Antonio-Marius-Flavius1,Lovasz Erwin-Christian1,Ceccarelli Marco2,Sticlaru Carmen1,Scurt (Stoian) Ana-Maria1

Affiliation:

1. Department of Mechatronics, Politehnica University of Timişoara, Timișoara, Romania

2. Laboratory of Robot Mechatronics (LARM), University of Rome Tor Vergata, Roma, Italy

Abstract

The paper shows an appropriate unitary study of a novel geared planar parallel manipulator with the structure 3-R (PRRGR)RR which uses geared linkages with linear actuators and slider cranks as legs. The use of geared linkages with linear actuation although with more complex structure, allows a large rotation angle with proper transmission angle in the linkages and the approximately linear transmission function within large range. A positional kinematic analysis of the 3-R (PRRGR)RR was developed with a unitary analytical model, which is worked out through a numerical example that computes the singularities of type I and II together with the local and global performance indices, namely manipulability, conditioning number, kinematic, stiffness and transmission indices. The presented results are discussed and compared with an equivalent 3-RRR planar parallel manipulator with the same links lengths to highlight the kinematic advantages of the proposed planar parallel manipulator 3-R (PRRGR)RR. The novel geared planar parallel manipulator is designed and simulated in Creo Parametric in order to validate the analytical model with a numerical performance characterization.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Reference42 articles.

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