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Kinematic analysis and design of a 3-DOF translational parallel robot

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Abstract

Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward, in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems (ADAMS) software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index (GDI) of the robot is calculated using Jacobean matrix at different positions of the mobile platform.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran

    Mahmood Mazare, Mostafa Taghizadeh & M. Rasool Najafi

  2. Department of Engineering, University of Qom, Qom, Iran

    M. Rasool Najafi

Authors
  1. Mahmood Mazare
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  2. Mostafa Taghizadeh
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  3. M. Rasool Najafi
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Corresponding author

Correspondence to Mostafa Taghizadeh.

Additional information

Recommended by Associate Editor Xun Xu

Mahmood Mazare received the M. Sc. degree in mechanical engineering from Shahid Beheshti University, Tehran, Iran in 2016.

His research interests include dynamic systems, robotics and feedback control systems, specially kinematics, dynamics and control of parallel robots.

Mostafa Taghizadeh received the B. Sc. and M. Sc. degrees in mechanical engineering from the University of Tehran, Iran in 1995 and 1997, respectively, and the Ph.D. degree in mechanical engineering from K. N. Toosi University of Technology, Iran in 2008. In 2008, he was a faculty member at Power and Water University of Technology, Tehran, Iran. Currently, he is an assistant professor in the Department of Mechanical and Energy Engineering at Shahid Beheshti University, Iran. He has published about 30 refereed journal and conference papers.

His research interests include fluid power control systems, robotics and feedback control systems.

M. Rasool Najafi received the B. Sc. degree in mechanical engineering from Islamic Azad University, Iran in 2000, and the M. Sc. degree in mechanical engineering from Shiraz University, Shiraz, Iran in 2003. Since 2011, he was a faculty member at the University of Qom, Iran. Currently, he is a Ph.D. degree candidate in the Department of Mechanical and Energy Engineering at Shahid Beheshti University, Iran.

His research interests include robotics, mechanical vibrations, and machinery health monitoring.

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Mazare, M., Taghizadeh, M. & Rasool Najafi, M. Kinematic analysis and design of a 3-DOF translational parallel robot. Int. J. Autom. Comput. 14, 432–441 (2017). https://doi.org/10.1007/s11633-017-1066-y

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  • DOI: https://doi.org/10.1007/s11633-017-1066-y

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