A Kinematic Design and Analysis of a Robotic Multi Motion Drive Machine

Abstract

This study investigates on the kinematic analysis of a Multi Motion Drive Machine (MMD), in general, of a planar parallel 3-RRR robot with three synchronously driven cranks. For this aim, it is used a special software SAM (Synthesis and Analysis of Mechanisms) for kinematical methods on velocity, acceleration, force and torque analysis, which allows engineers to simulate and optimize 2D mechanisms and drives.

Keywords

• 2D geometric design
• kinematic analysis of motions
• planar mechanism
• simulation of movement.

References

1. [1] E. Can, “Analyse und Synthese eines schnelllaufenden ebenen Mechanismus mit modifizierbaren Zwangläufen”, PhD Thesis, Vienna University of Technology, 2012.
2. [2] E. Can & H. Stachel, (2014). “A planar parallel 3-RRR robot with synchronously driven cranks,” Mechanism and Machine Theory, vol. 79, pp. 29-45, 2014. https://www.sciencedirect.com/science/article/pii/S0094114X14001086
3. [3] E. Can, “The geometric design of currently polplan and velocity vectors of a planar parallel robot”, Sakarya University Journal of Science, vol. 19, pp. 151-156, 2015. http://www.saujs.sakarya.edu.tr/tr/pub/issue/20704/221134
4. [4] Maple, Mathematics software Waterloo, Canada. https://www.maplesoft.com/
5. [5] E. Can & Ö. Canay, “A planar robot design and construction with Maple”, The Online Journal of Science and Technology, vol. 6/2 pp. 1-5, 2016. https://dergipark.org.tr/en/download/article-file/210190
6. [6] SAM 8.1, ARTAS Engineering Software, Netherlands. https://www.artas.nl/en/