Kinematics, Structural Analysis and Control of 3-PPSS Parallel Manipulator
Sooraj Sukumar K1, Mervin Joe Thomas2, Sudheer A.P3, Joy M.L4
1Mr. Sooraj Sukumar K, Department of Mechanical Engineering, National Institutes of Technology, Calicut, Kerala, India.
2Mervin Joe Thomas, Department of Mechanical Engineering, National Institutes of Technology, Calicut, Kerala, India.
3Dr. Sudheer A.P., Department of Mechanical Engineering, National Institutes of Technology, Calicut, Kerala, India.
4Dr. M. L. Joy, Department of Mechanical Engineering, National Institutes of Technology, Calicut, Kerala, India.
Manuscript received on 10 April 2019 | Revised Manuscript received on 17 April 2019 | Manuscript Published on 26 July 2019 | PP: 911-916 | Volume-8 Issue-6S4 April 2019 | Retrieval Number: F11860486S419/19©BEIESP | DOI: 10.35940/ijitee.F1186.0486S419
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open-access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Industries encourage the use of low-cost compact and easily controllable equipment’s to implement automation due to the lack of skilled labors and low productivity. This demands the need for more efficient and affordable novel mechanisms and processes. In this paper, the kinematic analysis of a 3-PPSS (P— prismatic joint, S- spherical joint) parallel manipulator having an equilateral mobile platform is explained. The Kinematic analysis is done using the Modified Denavit – Hartenberg (DH) modelling technique. The inverse kinematic equations are further solved using Levenberg-Marquardt Algorithm to obtain an exact solution for the joint variables corresponding to an instantaneous pose of the end effector. Static structural analysis is done using ANSYS software to determine the deformations and stresses induced. Optimum dimensions are chosen for the manipulator based on this analysis. Finally, an ARDUINO based control is implemented to manipulate the mobile platform by controlling the active prismatic joints.
Keywords: Denavit-Hartenberg (DH) Modelling, Dimensional Synthesis, Forward Kinematics, Parallel Manipulator, Static Structural Analysis.
Scope of the Article: Mechanical Maintenance