A. Arockia Selvakumar and R. Sivaramakrishnan and Srinivasa Karthik.T.V and Valluri Siva Ramakrishna and B.Vinodh. Simulation and Workspace Analysis of a Tripod Parallel Manipulator
1102 - 1107
2009
3
9
International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering http://waset.org/publications/14432
http://waset.org/publications/33
World Academy of Science, Engineering and Technology
Industrial robots play a vital role in automation
however only little effort are taken for the application of robots in
machining work such as Grinding, Cutting, Milling, Drilling,
Polishing etc. Robot parallel manipulators have high stiffness,
rigidity and accuracy, which cannot be provided by conventional
serial robot manipulators. The aim of this paper is to perform the
modeling and the workspace analysis of a 3 DOF Parallel
Manipulator (3 DOF PM). The 3 DOF PM was modeled and
simulated using &039;ADAMS&039;. The concept involved is based on the
transformation of motion from a screw joint to a spherical joint
through a connecting link. This paper work has been planned to
model the Parallel Manipulator (PM) using screw joints for very
accurate positioning. A workspace analysis has been done for the
determination of work volume of the 3 DOF PM. The position of the
spherical joints connected to the moving platform and the
circumferential points of the moving platform were considered for
finding the workspace. After the simulation, the position of the joints
of the moving platform was noted with respect to simulation time and
these points were given as input to the &039;MATLAB&039; for getting the
work envelope. Then &039;AUTOCAD&039; is used for determining the work
volume. The obtained values were compared with analytical
approach by using PappusGuldinus Theorem. The analysis had been
dealt by considering the parameters, link length and radius of the
moving platform. From the results it is found that the radius of
moving platform is directly proportional to the work volume for a
constant link length and the link length is also directly proportional
to the work volume, at a constant radius of the moving platform.
International Science Index 33, 2009