Wesley Emile Dharmalingum, J. Padayachee, G. Bright
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引用次数: 0
Abstract
This paper presents the design and analysis of a novel five degrees-of- freedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, and robotic machining applications. The 2- R(Pa-IQ)RR, R(Pa-IQ)R manipulator has two rotational DOFs, one parasitic rotation, and three translational DOFs. In comparison with other 5- and 6- DOF PKMs, this PKM possesses three pairs of coplanar legs that contain nested kinematic chains, and it makes exclusive use of revolute and prismatic joints. The inverse kinematic analysis is a novel extension of the geometric (vector) method with the analysis of inner and outer kinematic chains. The forward kinematic analysis was solved using the Newton Raphson (NR) method. The results of the forward and inverse kinematic analyses were validated with SolidWorks ® and MATLAB ® simulations.
期刊介绍：
The South African Journal of Industrial Engineering (SAJIE) publishes articles with the emphasis on research, development and application within the fields of Industrial Engineering and Engineering and Technology Management. In this way, it aims to contribute to the further development of these fields of study and to serve as a vehicle for the effective interchange of knowledge, ideas and experience between the research and training oriented institutions and the application oriented industry. Articles on practical applications, original research and meaningful new developments as well as state of the art surveys are encouraged.
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