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

Öz

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.

Anahtar Kelimeler

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

Kaynakça

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/