Kineto Static Design and Stiffness Analysis of a New Kind of 3-RRR Planar Parallel Manipulator

Abstract:

This paper presents a new design of a 3-RRR planar manipulator with non-planar legs. In contrast to the conventional 3-RRR planar parallel mechanism, the links are not planar. They are elevated above the X-Y plane and non planar legs are constructed. The kinematics of this model is realized on a common projected plane and traced back to its elevated position. The moment of inertia for the inclined links is computed. A stiffness model is established for the proposed design of 3-RRR manipulator and compared with a conventional 3-RRR planar manipulator. The analysis shows how the proposed design has better stiffness along all the three directions of motion.

• Periodical: Applied Mechanics and Materials (Volumes 592-594)
• Pages: 2303-2307
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.592-594.2303
• Online since: July 2014
• Authors: M. Ganesh*, R. Karthikeyan, Anjan Kumar Dash, M. Vikramadityan, R. Gopalachary
• Keywords: Jacobian Matrix, Non-Planar Links, Parallel Manipulators, RRR Planar Manipulator, Stiffness Analysis by Jacobian Method, Workspace

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