In the paper dynamic studies regarding the possibility to use a 3-DOF parallel mechanism for the TV satellite antenna orientation or sun tracker are presented. The advantage to use a parallel mechanism consists of their good stiffness, very high accuracy and their capability to manipulate heavy loads. The algorithms for the kinematic models are solved. Dynamic equations are obtained by using the Newton-Euler formalism in two steps. The first step is to determine the relations between the spherical joint reaction forces and the kinematic parameters of the mobile platform. The second step is to determine the generalized active torques. Using a numerical and graphical simulation, the diagrams for the dynamics representation are computed.
The main purpose of the paper is to develop a neural network application destined to the workspace generation of a parallel mechanism, as an performant alternative to the workspace representation based on inverse kinematic model. The paper describes both algorithms. The initial testing was made for a parallel mechanism with two degrees of freedom that could be applied for the orientation of different systems like a TV satellite dish antennas, sun trackers, telescopes, cameras, radars etc.
This research discusses the workspace of the industrial robot with six degrees of freedom(6-DOF) based on AutoCAD platform. Based on the analysis of the overall configuration of the robot, this research establishes the kinematic mathematical model of the industrial robot by using DH parameters, and then solves the workspace of the robot consequently. In the AutoCAD, Auto Lisp language program is adopted to simulate the two-dimensional(2D) and three-dimensional(3D) space of the robot. Software user interface is written by using the dialog box control language of Visual LISP. At last, the research analyzes the trend of the shape and direction of the workspace when the length and angle range of the robot are changed. This research lays the foundation for the design, control and planning of industrial robots.
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