This article presents an asymmetric parallel manipulator with 2(RRPaRR)-PRRR kinematic chains. This manipulator aims to operate as a lower-mobility parallel manipulator with the pure translational motion of its platform. Therefore, a series of analyses are performed to fulfill this intention. First, the mobility analysis is performed by applying the Grübler-Kutzbach equation and the screw theory. Then, the kinematic, singularity, and workspace analysis are applied to analyze this PM. As a result, the application of the screw theory for the configuration of its kinematic chains shows its mobility in a pure translational motion in space. Then, this manipulator has a closed-form solution for its direct kinematic problem expressed in a quadratic equation. By applying singularity and workspace analysis via visualization, the singularity-free workspace along the z-axis of its workspace can be identified. This can later be used as a useful workspace. Overall, the presented manipulator can be applied to a translational parallel manipulator
Mobility, Kinematic, Singularity, and Workspace Analysis of a Translational Parallel Manipulator with 2(RRPaRR)-PRRR Kinematic Chains
30.10.2023
doi:10.30811/jpl.v21i5.4075
Jurnal Polimesin; Vol 21, No 5 (2023): October; 33-40 ; 2549-1199 ; 1693-5462 ; 10.30811/jpl.v21i5
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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