APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR

Year 2018, , 79 - 87, 15.05.2018

Hüseyin Mutlu İskender Özkul

https://doi.org/10.31127/tuje.345351

Abstract

Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a twopoint, two-velocity and three point-position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically

Keywords

Mechanism, Manipulator, robotic

References

• Akçalı, İ. D. and Dittrich, G. (1989a) “Path Generation by Subdomain Method”, Mech. Mach. Theory, Vol. 24, No.1, pp.45-52,
• Akçali, İ. D. and Dittrich, G. (1989b) “Function Generation by Galerkin’s Method” Mech. mach. theory, Vol. 24, No.1, pp. 39-43
• Akçalı, İ. D. (1987) “Design of Slider-Crank Mechanism for Function Generation” Proc. 7 World Congress on Theory of Machines and Mechanism, Sevilla, pp. 119-124.
• Bernier, D., Castelian, V. and Li, X. (1995) “A New Parallel Structure with 6 Degrees of Freedom” 9 World Congress on the Theory of Machines and Mechanisms, Proc. Milano, pp. 8-12.
• Duffy, J. (1996) Statics and Kinematics with Applications to Robotics, Cambridge University Press, UK.
• Fu, K. S., Gonzales, R.C. and Lee, C. S. G. (1987) Robotics, Control, Sensing, Vision and Intelligence, McGraw-Hill Book Co., USA.
• Hartenberg, R. S. and Denavit, J. (1964) Kinematic Synthesis of Linkages, McGraw-Hill Book Co, USA.
• Harris, D. M. J. (1965). “Parallel-Linkage Robot Coordinate Transformation through Screw Theory” 9th World Congress on the theory of Machines and Mechanisms, Milano, pp. 1565-1568.
• Groover, M. P., Weiss, Nagel, R. N. and Odrey, N. G. (1986). Industrial Robotics Technology Programming and Applications, McGraw-Hill, Singapore.
• Koren, Y. (1987) Robotics for Engineers, McGraw-Hill, Singapore.
• Liu, A. (1995) “Configuration Analysis of a Class of Parallel Structures Using Improved Continuation”, 9th World Congress on the Theory of Machines and Mechanisms, Milano, pp. 155-158.
• Innocenti, C. and Parenti-Castelli, V. (1990). “Direct Position Analysis of the Stewart Platform Mechanism“ Mech. Mach. Theory, Vol. 25, No. 6, pp. 611- 621.
• Stadler, W. (1995). Analytical Robotics and Mechatronics, McGraw-Hill Inc., Usa.
• Raven, (1987). Automatic Control Engineering, 4th Ed.,
• Mc Graw-Hill Book Co., Usa