The main purpose of this study is static analysis of two three-degree of freedom parallel mechanisms: 3-RCC and 3- RRS. Geometry of these mechanisms is expressed and static equilibrium equations are derived for the whole chains. For these mechanisms due to the equal number of equations and unknowns, the solution is as same as 3-RCC mechanism. A mathematical software is used to solve the equations. In order to prove the results obtained from solving the equations of mechanisms, the CAD model of these robots has been simulated and their static is analysed in ADAMS software. Due to symmetrical geometry of the mechanisms, the force and external torque acting on the end-effecter have been considered asymmetric to prove the generality of the solution method. Finally, the results of both softwares, for both mechanisms are extracted and compared as graphs. The good achieved comparison between the results indicates the accuracy of the analysis.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Two Spherical Three Degrees of Freedom Parallel Robots 3-RCC and 3-RRS Static Analysis


    Beteiligte:

    Erscheinungsdatum :

    04.07.2015


    Anmerkungen:

    oai:zenodo.org:1107539



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    Two-degrees-of-freedom spherical motion platform

    ZHANG CHUNBI | Europäisches Patentamt | 2015

    Freier Zugriff

    A ROBOMECH CLASS PARALLEL MANIPULATOR WITH THREE DEGREES OF FREEDOM

    Zhumadil Baigunchekov / Azamat Mustafa / Tarek Sobh et al. | BASE | 2020

    Freier Zugriff

    Dexterous Torque-Controlled Robots with 7+ Degrees of Freedom

    Thompson, J. / Robotic Industries Association / Automated Imaging Association et al. | British Library Conference Proceedings | 1990


    On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots

    Izard, Jean-Baptiste / Gouttefarde, Marc | Springer Verlag | 2023