Papers by Keyword: Guiding Device Mechanism

Abstract: This paper proposes a study on the workspace of the guiding device mechanism of a parallel topology robot. The kinematical scheme and the geometrical model of the guiding device mechanism of the parallel topology robot are presented. The lengths of binary links between the platforms determine the shape and the volume of the parallel robot’s workspace; different boundaries of the workspace are presented. Thus, variation of the workspace in both volume and shape is studied, depending on the binary link lengths, using for modeling and simulation SolidWorks software.

Abstract: The paper presents a fatigue analysis of low level links of a parallel topology robot guiding device mechanism. This mechanism has a FP₃+3·RRS+MP₃ structure. The 3D model of the guiding device is presented. In a SolidWorks Motion study, motion laws for motors are defined and a force is applied on the mobile platform MP₃. The loads on low level links are imported in SolidWorks Simulation module. Then, von Mises stresses are determined by finite element method and, based on these results, fatigue analysis is performed. Two variants of low level links are analized: first, with no fillet between the base cylinder and the body and second, with fillet.