3 Degree of Freedom Manipulator

S G Krishnan and R Harilal May 2, 2013

Position Analysis Using (x, y, ) as input we rst calculate the positions of A,B,C. xCi = x lci cos(i ) yCi = y lci sin(i ) 1 = + (/6) 2 = + (/2) 3 = + (5/6) D= (xC xA )2 + (yC yA )2
2 +D 2 (l 2 B) )

= cos1 ( (lA )

2lA D

yC yA = tan1 x C xA

= In the same way we can calculate the orientation of all the three legs. 1

Velocity Analysis ). We obtain 1 , 2 , 3 by position analysis. For velocity analysis we have inputs as (x, y, , x, y, = J X J is the jacobian. J is obtained by dierentiating the contraints of the legs. (xBi xCi )2 + (yBi yCi )2 = (lbi )2 xC = x lc cos1 xB = xA la cos1 yC = y lc sin1 yB = yA la sin1 Dierentiating with respect to time 2(xB xC )(xB xC ) + 2(yB yC )(y B y C) = 0 On simplifying 1 la [(y yA )cos1 (x xA )sin1 + lc cos(1 1 )] = (x xA lc cos1 la cos1 ) x + (y yA lc sin1 la sin1 ) y lc [(y yA )cos1 (x xA )sin1 + la sin(1 1 )] 1

J can be represented as p1 /s1 q1 /s1 r1 /s1 p2 /s2 q2 /s2 r2 /s2 p3 /s3 q3 /s3 r3 /s3 pi = (x xAi lci cosi lai cosi ) qi = (y yAi lci sini lai sini ) ri = lci [(y yAi )cosi (x xAi )sini + lai sin(i i )] si = lai [(y yAi )cosi (x xAi )sini + lci cos(i i )] , we can nd Thus given X

Acceleration Analysis Accelerations are obtained by dierentiating the velocity equation = J X on dierentiation X + JX = J = J 1 ( J X ) X J can be represented as P1 Q1 R1 P2 Q2 R3 P3 Q3 R3 2

Pi =

si p i pi si s2 i

Qi =

si qi qi si s2 i

Ri =

si ri ri si s2 i

i sini + lb i sini p i = x + la q i = y la i cosi lb i cosi i [(x xa )cosi + (y ya )sini ] + lc [xsin r i = lc i ycos i ] + la lc (i i )cos(i i ) i [(x xa )cosi + (y ya )sini ] la [xsin s i = la i ycos i ] + la lc (i i )cos(i i ) Hence acceleration inversion is completed Force and Torque Analysis Force and torque analysis is done to determine the amount of torque needed by the motor to bring about the required motion. Free Body Diagrams Platform

Link

Crank

Force equation for platform Fx1 + Fx2 + Fx3 = MP latf orm x Fy1 + Fy2 + Fy3 = MP latf orm y (Fx1 sin1 Fy1 cos1 )lc1 + (Fx2 sin2 Fy2 cos2 )lc2 + (Fx3 sin3 Fy3 cos3 )lc3 = Iplatf orm Iplatf orm =
2 Mplatf orm lci 4

xci = x lci cosi xci = x + lci sini + lci cosi 2 x + lci sini ci = x yci = y lci sini y lci cosi ci = y 2 y lci cosi + lci sini ci = y xBi = lai cosi i xBi = lai sini 2 x Bi = lai sini i lai cosi i yBi = lai sini i yBi = lai cosi 2 y Bi = lai cosi i lai sini i
yci ybi ] = tan1 [ x ci xbi

x com = y com = com =

x Bi +x Ci 2 yBi +yCi 2 2(x )cos ci yBi Ci x Bi )sin +2(y lbi

Force Equations of a link Fx1 Fx4 = Mlink x com Fy1 Fy4 = Mlink y com
bi (Fy1 cos Fx1 sin + Fy4 cos Fx4 sin ) l2 = Ilink com

Ilink =

2 Mlink lbi 12

Solving for Fx1 to Fx6 , Fy1 to Fy6 Torque of the motor is obtained by 1 = (Fx4 sin1 Fy4 cos1 )la1 Similarly we can calculate torque for the other two motors.