2011•Advanced materials researchOpen access

Kinematic and Singularity Analysis of 3 PRR Parallel Manipulator

Arockia Selvakumar Arockia Doss, K. Karthik, A.L. Naresh Kumar, R. Sivaramakrishnan, K. Kalaichelvan

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.

About this research paper

What this paper is about

Why it matters

OpenAlex reports 4 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

Key concepts: Parallel manipulator, Kinematics, Singularity, Machining, Screw theory, Degrees of freedom (physics and chemistry), Kinematics equations, Inverse kinematics