Beruflich Dokumente
Kultur Dokumente
Volume 6, Issue 12, Dec 2015, pp. 01-08, Article ID: IJMET_06_12_001
Available online at
http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=6&IType=12
ISSN Print: 0976-6340 and ISSN Online: 0976-6359
IAEME Publication
INTRODUCTION
Paredis and Khosla (1) proposed a way to deal with illuminate the kinematic outline
of a non repetitive controller with joint confines that can achieve an arrangement of
determined focuses with required introductions. The issue was initially detailed by
them numerically by utilizing the idea of the kinematic hyper surface. They have
utilized a worldwide improvement system to minimize the punishment of a controller
outline which results in an ideal kinematic arrangement.
Ro and Lee (2) proposed a get together way calculation for male and female parts
utilizing just vertices of the male and female parts when their starting and objective
position are known. A calculation for the ideal position for two-arm fixtureless get
together in the workspace is proposed by them. Stance enhancement of two-arm
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
worldwide molding file and the worldwide solidness record are acquired to improve
connection lengths of 3-DOF SPMS.
w ( i )
Where i are the singular values of the jacobian matrix J.
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
The 6 UPS parallel manipulator shown in fig.1 consists of a fixed platform and
moving platform connected by six identical limbs. The reference frame attached to the
fixed platform is Os-xs,ys,zs.and the frame Op-xp,yp,zp is attached to the the moving
platform. The distances between the joints in moving and fixed platforms are:
Fixed Platform:
O1 O2=O3 O4=O5 O6= a1
O2 O3=O4 O5=O6 O1=a2
Moving Platform:
P1 P2=P3 P4=P5 P6= b1
P2 P3=P4 P5=P6 P1= b2
for i= 1,2..6
where
^
s1,i
$1,i
(bi di ) s1,i
^
s2,i
$2,i
(bi di ) s2,i
^
0
$3,i
s3,i
^
s4,i
$4,i
bi s4,i
^
s5,i
$5,i
bi s5,i
^
s6,i
$6,i
bi s6,i
Where sj,i is a unit vector along the jth joint axis of the ith limb, bi PBi and
di Ai Bi d3,i S3,i
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
^T
r ,1,i
J C $P 0
Where
n1T
T
n2
n T
3
Jc T
n4
T
n5
T
n6
013
013
013
013
013
013
Reciprocal to all passive joint screws of the ith limb can be identified as zero pitch
screw along the line passing through the two universal joints
Where
(b1 s3,1 )T
T
(b2 s3,2 )
T
(b3 s3,3 )
Jx
(b s )T
4 3,4
(b5 s3,5 )T
(b s )T
6 3,6
sT 3,1
sT 3,2
sT 3,3
sT 3,4
T
s 3,5
sT 3,6
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
Where
(b1 s3,1 )T
(b s )T
6
3,6
J T
n1
nT
6
sT 3,1
T
s 3,6
013
013
RESULTS
Using Matlab the following results have been obtained for 6 UPS spatial
manipulators. The results regarding optimum structures based on the performance
indices were identified have been presented in this section.
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
CONCLUSION
The 6-UPS parallel manipulator has been analyzed for its performance indices. Based
on the performance indices, the optimum configurations are identified. All the
obtained results for the performance indices are graphically plotted.
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
Christiaan J.J. Paredis and Pradeep K. Khosla. Kinematic Design of Serial Link
Manipulators from Task Specifications, The International Journal of Robotics
Research, Vol. 12, No. 3, pp 274-287, June 1993.
Paul I. Ro and Byung R. Lee. An Optimum Path and Posture Planning for
Fixtureless Assembly, IEEE, Proc. Int. Conf. Adv. Robot., pp 808-813 (1993).
J.R. Singh and J. Rastegar. Optimal Synthesis of Robot Manipulators Based on
Global Kinematic Parameters, Mechanism and Machine Theory, Vol. 30, No. 4,
pp 569-580 (1995).
ManjaKircanski. Symbolic Singular Value Decomposition for Simple
Redundant Manipulators and its Application to Robot Control, The International
Journal of Robotics Research, Vol. 14, No. 4, pp 382-398, August 1995.
ManjaKircanski. Kinematic Isotropy and Optimal Kinematic Design of Planar
Manipulators and a 3-DOF Spatial Manipulator, The International Journal of
Robotics Research, Vol. 15, No. 1, pp 61-77, Feb 1996.
Clement M. Gosselin et al. A new architecture of planar three-degree-offreedom parallel manipulator, IEEE, proc. Int. Conf. Robotics and Automation,
pp 3738-3743, Minneapolis, Minnesota, April 1996.
Damien Chablat and Philippe Wenger. Working modes and aspects in fully
parallel manipulators, IEEE Proc. Int. Conf. Adv. Robot., pp 1964-1969 (1998).
Leo J. Stocco et al. On the Use of Scaling Matrices for Task-Specific Robot
Design, IEEE Trans. Robotics and Automation, Vol. 15, No. 5, October 1999.
TanioTanev and BogdanStoyanov. On the performance Indexes for Robot
Manipulators, Journal of Bulgarian Academy of sciences, Problems of
Engineering Cybernetics and Robotics 49, pp 64-71 (2000).
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com
[11]
[12]
http://www.iaeme.com/ijmet/index.asp
editor@iaeme.com