An Application of a 3-RRRS 6 DOF Parallel Manipulator

Q4 Computer Science

International Journal of Automation and Smart Technology Pub Date : 2020-06-01 DOI:10.5875/AUSMT.V10I1.2048

A. Dash

{"title":"An Application of a 3-RRRS 6 DOF Parallel Manipulator","authors":"A. Dash","doi":"10.5875/AUSMT.V10I1.2048","DOIUrl":null,"url":null,"abstract":"A new drive simulator is designed and fabricated through three legged, 6-DOF RRRS (Revolute- Revolute- Revolute- Spherical) parallel manipulator having three 1-DOF joints which are of revolute type and the middle joint being passive. The three legs are placed equilaterally on the base. Base joint rotates about a vertical axis whereas the other two joints rotate parallel to horizontal plane. The main objective of this drive simulator is to reduce the overall cost of a drive simulator which is done by replacing the conventional drive simulators having linear actuators with ones having rotatory actuators. Conventional drive simulators are 6 legged and each actuator is a linear actuator. The proposed design of drive simulator is having 3 legs which leads to increase in workspace and since prismatic actuators are replaced by rotary actuators the overall cost is also reduced. For the proposed drive simulator, inverse kinematics model is generated in a closed form way and workspace of the fabricated drive simulator is verified and workspace volume is calculated for all possible orientations and plotted. Kinematic control is done through Arduino based on inverse kinematics model.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":" ","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Automation and Smart Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5875/AUSMT.V10I1.2048","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Computer Science","Score":null,"Total":0}

引用次数: 0

Abstract

A new drive simulator is designed and fabricated through three legged, 6-DOF RRRS (Revolute- Revolute- Revolute- Spherical) parallel manipulator having three 1-DOF joints which are of revolute type and the middle joint being passive. The three legs are placed equilaterally on the base. Base joint rotates about a vertical axis whereas the other two joints rotate parallel to horizontal plane. The main objective of this drive simulator is to reduce the overall cost of a drive simulator which is done by replacing the conventional drive simulators having linear actuators with ones having rotatory actuators. Conventional drive simulators are 6 legged and each actuator is a linear actuator. The proposed design of drive simulator is having 3 legs which leads to increase in workspace and since prismatic actuators are replaced by rotary actuators the overall cost is also reduced. For the proposed drive simulator, inverse kinematics model is generated in a closed form way and workspace of the fabricated drive simulator is verified and workspace volume is calculated for all possible orientations and plotted. Kinematic control is done through Arduino based on inverse kinematics model.

查看原文本刊更多论文

3-RRRS 6自由度并联机构的应用

采用三足六自由度并联机器人RRRS (revolution - revolution - revolution - Spherical)，设计制作了一种新型的驱动模拟器，该并联机器人具有三个1自由度关节，为转动型关节，中间关节为被动关节。三条腿平放于底座上。基本关节绕垂直轴旋转，而其他两个关节平行于水平面旋转。该驱动模拟器的主要目标是通过用具有旋转驱动器的驱动器取代具有线性驱动器的传统驱动模拟器来降低驱动模拟器的总体成本。传统的驱动模拟器有6条腿，每个驱动器是一个线性驱动器。所提出的驱动模拟器设计具有3支腿，从而增加了工作空间，并且由于旋转驱动器取代了棱镜驱动器，因此也降低了总体成本。对于所提出的驱动模拟器，以封闭形式建立了运动学逆模型，验证了所制造的驱动模拟器的工作空间，计算了所有可能方位的工作空间体积并绘制了图。基于逆运动学模型，通过Arduino进行运动学控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

International Journal of Automation and Smart Technology Engineering-Electrical and Electronic Engineering

CiteScore

0.70

自引率

0.00%

发文量

审稿时长

16 weeks

期刊介绍： International Journal of Automation and Smart Technology (AUSMT) is a peer-reviewed, open-access journal devoted to publishing research papers in the fields of automation and smart technology. Currently, the journal is abstracted in Scopus, INSPEC and DOAJ (Directory of Open Access Journals). The research areas of the journal include but are not limited to the fields of mechatronics, automation, ambient Intelligence, sensor networks, human-computer interfaces, and robotics. These technologies should be developed with the major purpose to increase the quality of life as well as to work towards environmental, economic and social sustainability for future generations. AUSMT endeavors to provide a worldwide forum for the dynamic exchange of ideas and findings from research of different disciplines from around the world. Also, AUSMT actively seeks to encourage interaction and cooperation between academia and industry along the fields of automation and smart technology. For the aforementioned purposes, AUSMT maps out 5 areas of interests. Each of them represents a pillar for better future life: - Intelligent Automation Technology. - Ambient Intelligence, Context Awareness, and Sensor Networks. - Human-Computer Interface. - Optomechatronic Modules and Systems. - Robotics, Intelligent Devices and Systems.