Optimal design, simulation and experimental tests of an 5R PKM manipulator

Abstract

The design of an automatic system requires a synergistic collaboration between several disciplinary areas, involving know-how and expertise in mechanical, electrical and technical fields. A robot is a complex automatic system, which carries on more than the common features of a simple machine, since it is usually designed to accomplish tasks which are not known during the design phase. This paper deepens the design of a five-bar parallel manipulator with two degrees of freedom highlighting the multidisciplinary approach used in its development. Starting from the machine requirements, the process of kinematic optimization, the structural design phase, the dynamic analysis and the sizing of the driving systems are deeply described. Finally the designed PKM is realized and tested, comparing experimental results with those obtained from numerical analysis.

Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains

“…Rantai kinematik 5R (RRRRR) dengan dua aktuator rotari merupakan rantai kinematik yang cukup ekstensif ditelaah untuk 2 DOF PPM, baik sambungan aktifnya berada pada satu sumbu [1]- [4] atau terpisah satu sama lain pada jarak tertentu [5]- [7]. Akan tetapi untuk penggunaannya, manipulator ini menemui kendala karena outputnya hanya berupa titik sehingga tidak dapat memposisikan suatu perangkat dalam kedua arah translasi di bidang dengan orientasi tetap.…”