Kinematic and Singularity Analysis of 3 PRR Parallel Manipulator

Abstract

Three degrees of freedom (DOF) parallel manipulator is used in the applications such as base for various machining operations, drilling inclined holes, airplane and automobile simulators, walking machines, pointing devices, contour milling and machining etc. The 3 DOF parallel manipulator consists of a fixed platform and a movable platform, which are connected by means of three identical links. Pin joints are used to connect the one end of the link and the lead screw pair. This 3 DOF 1R2T parallel manipulator is having one orientation freedom and two translational freedom, which is actuated by means of screw pair, which in turn operated by a stepper motor. The inverse kinematics and velocity equations of this mechanism have been derived mathematically. Based on this inverse kinematics and velocity equations singularity analysis is completed. Two kinds of singularities are compared with ADAMS simulation results and a prototype of the manipulator is developed for further study.

Singularity Analysis of 3 DOF Parallel Manipulators for Angular Drilling in Medical Applications

“…Singularity Analysis of 3 DOF Parallel Manipulators for Angular Drilling in Medical Applications Arockia Selvakumar A Tripod PM Tri-Glide PMIII. SINGULARITY ANALYSISSingularity is a significant problem in parallel mechanisms, because it leads to loss of controllability and degradation of the stiffness of the system[14][15]. TheFigures 3 and 4shows the schematic diagram of Type I and Type II Singularity positions of PMs[15].…”