{"title":"An Application of a 3-RRRS 6 DOF Parallel Manipulator","authors":"A. Dash","doi":"10.5875/AUSMT.V10I1.2048","DOIUrl":null,"url":null,"abstract":"A new drive simulator is designed and fabricated through three legged, 6-DOF RRRS (Revolute- Revolute- Revolute- Spherical) parallel manipulator having three 1-DOF joints which are of revolute type and the middle joint being passive. The three legs are placed equilaterally on the base. Base joint rotates about a vertical axis whereas the other two joints rotate parallel to horizontal plane. The main objective of this drive simulator is to reduce the overall cost of a drive simulator which is done by replacing the conventional drive simulators having linear actuators with ones having rotatory actuators. Conventional drive simulators are 6 legged and each actuator is a linear actuator. The proposed design of drive simulator is having 3 legs which leads to increase in workspace and since prismatic actuators are replaced by rotary actuators the overall cost is also reduced. For the proposed drive simulator, inverse kinematics model is generated in a closed form way and workspace of the fabricated drive simulator is verified and workspace volume is calculated for all possible orientations and plotted. Kinematic control is done through Arduino based on inverse kinematics model.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":" ","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Automation and Smart Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5875/AUSMT.V10I1.2048","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Computer Science","Score":null,"Total":0}
引用次数: 0
Abstract
A new drive simulator is designed and fabricated through three legged, 6-DOF RRRS (Revolute- Revolute- Revolute- Spherical) parallel manipulator having three 1-DOF joints which are of revolute type and the middle joint being passive. The three legs are placed equilaterally on the base. Base joint rotates about a vertical axis whereas the other two joints rotate parallel to horizontal plane. The main objective of this drive simulator is to reduce the overall cost of a drive simulator which is done by replacing the conventional drive simulators having linear actuators with ones having rotatory actuators. Conventional drive simulators are 6 legged and each actuator is a linear actuator. The proposed design of drive simulator is having 3 legs which leads to increase in workspace and since prismatic actuators are replaced by rotary actuators the overall cost is also reduced. For the proposed drive simulator, inverse kinematics model is generated in a closed form way and workspace of the fabricated drive simulator is verified and workspace volume is calculated for all possible orientations and plotted. Kinematic control is done through Arduino based on inverse kinematics model.
期刊介绍：
International Journal of Automation and Smart Technology (AUSMT) is a peer-reviewed, open-access journal devoted to publishing research papers in the fields of automation and smart technology. Currently, the journal is abstracted in Scopus, INSPEC and DOAJ (Directory of Open Access Journals). The research areas of the journal include but are not limited to the fields of mechatronics, automation, ambient Intelligence, sensor networks, human-computer interfaces, and robotics. These technologies should be developed with the major purpose to increase the quality of life as well as to work towards environmental, economic and social sustainability for future generations. AUSMT endeavors to provide a worldwide forum for the dynamic exchange of ideas and findings from research of different disciplines from around the world. Also, AUSMT actively seeks to encourage interaction and cooperation between academia and industry along the fields of automation and smart technology. For the aforementioned purposes, AUSMT maps out 5 areas of interests. Each of them represents a pillar for better future life: - Intelligent Automation Technology. - Ambient Intelligence, Context Awareness, and Sensor Networks. - Human-Computer Interface. - Optomechatronic Modules and Systems. - Robotics, Intelligent Devices and Systems.
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