Open AccessJournal Article
Modelling and Analysis of A 3-Dof Triglide Parallel Manipulator with Extensible Links for Angular Drilling Operations
TL;DR: An approach for increasing the work volume of 3-DOF triglide parallel manipulator by providing extensible links and apply the manipulator for performing inclined drilling operation and results obtained from experimental and simulation methods are verified and found to be closer.
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Abstract: -The papers presents an approach for increasing the work volume of 3-DOF triglide parallel manipulator by providing extensible links and apply the manipulator for performing inclined drilling operation. The modeling and analysis of triglide type parallel manipulator with extensible links, actuated by screw pairs and spherical pairs are carried out and presented. The working model of the fabricated angular drilling machine is analyzed for practical applicability. The models 3-dof glide type manipulator have been designed and constructed. Experimental analysis is carried out to find the angular tilt of moving platform. An algorithm is used to find the displacement of the nuts. Further validation of the model is done by software package ADAMS simulation. Force analysis is carried out to verify the practicability of the drilling machine. The results obtained from experimental and simulation methods are verified and found to be closer. There has not been any considerable effort made to apply robots for machining operations. The current interest of authors is to modify and use the manipulator for angular drilling operations. With the conventional machines, drilling an angular hole requires special fixtures for each specific angle. This parallel mechanism can automate the operation, which is the original idea of the authors.
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Citations
Modelling, Simulation and Dimensional Synthesis of Three Degrees of Freedom Triglide Parallel Manipulator
TL;DR: In this paper, a triglide type of 3 DOF parallel manipulator with three screw pairs is presented, where the manipulator is constructed with a fixed base and a top movable platform, which are linked through three rigid links of equal lengths spaced at equal angular distances from each other.
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References
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Marc Arsenault,Roger Boudreau +1 more
TL;DR: In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented, and three different architectures are considered and a genetic algorithm is used to perform the optimization.
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Topological Synthesis of a Parallel Wrist Mechanism
TL;DR: In this paper, a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities is presented, and the performance of chosen topology is evaluated according to desired requirements.
44
Comparison of 3-RPR planar parallel manipulators with regard to their kinetostatic performance and sensitivity to geometric uncertainties
TL;DR: In this paper, the sensitivity analysis of 3-RPRP planar parallel manipulators with respect to dexterity, workspace size, and sensitivity coefficients of the pose of the manipulator moving platform to variations in the geometric parameters and in the actuated variables are expressed algebraically.
A novel approach for forward position analysis of a double-triangle spherical parallel manipulator
TL;DR: A new approach for forward position analysis of a double-triangle (DT) spherical parallel manipulator by utilizing spherical geometry of the manipulator and solving two coupled trigonometric equations using Bezout's elimination method.
Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software
TL;DR: This work proposes to use modern general-purpose multibody software to compute the inverse dynamics of complex rigid mechanisms in an efficient way, so that it suits the requirements of realistic real-time applications as well.
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