Kinematic analysis of three-degrees-of-freedom parallel manipulator with crank arm actuator

Abstract

This paper presents a novel design of a threedegrees-of-freedom parallel manipulator. This manipulator has a crank arm type actuator instead of linear actuator, which is moved by means of servo motors. It has two degrees of orientation (Pitch and Roll) and one degree of translatory motion (Heave). Design is based on crank arm type actuator which can reduce the manufacturing cost without compromising on accuracy and precision. This paper develops an analytical method to analyze the basic kinematic equations of manipulator. Results are implemented using Matlab and are presented in graphical form; moreover Maplesoft MapleSim 6.1 was used for simulation purposes.

Design and Implementation of Inverse Kinematics and Motion Monitoring System for 6DoF Platform

“…Though they possess the advantages of simple control, high DoF, high efficiency, and high loading capacity (ton) [2], linear actuators have high production costs, and the height of the platform to be positioned in the center is overly high. With approximately half the development cost of linear actuators, 3DoF and 4DoF crank arm platforms have comparable high-fidelity motion, which reduces manufacturing costs, and can be applied in professional training simulators (e.g., of ships and vehicles) and entertainment simulators, which may serve as a point device at amusement parks [3,4].…”

“…The software offers functions such as sampling settings, impulse response display, real-time display of measured values, and log file reading and sending. To the best of our knowledge, the ideas we mention have not been presented in previously published papers [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]. As a result, this paper presents some new ideas on the implementation of motion control systems, including an adjustable speed control system and a middle-distance stroke control system.…”