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Modelling, Simulation and Analysis of Three Degrees of Freedom Triglide Parallel Manipulator


Affiliations
1 Dept. of Mechanical Engg., Rajagopal Polytechnic College, Gudiyattam-632602, Tamil Nadu, India
2 Dept. of Production Technology, MIT Campus, Anna University, Chennai-600044, India
     

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This article presents modelling, simulation, kinematic and workspace analysis of a triglide type of three degrees of freedom parallel manipulator actuated by screw pairs and spherical pairs. A fabricated model of the manipulator has been used for experimental analysis to find the angular tilt of moving platform. A computer program with suitable algorithms is developed to find the displacement of the nuts of the screw pairs and the kinematic analysis is performed. In order to further validate the model the software package ADAMS (Automatic Dynamic Analysis of Mechanical Systems) is used to simulate to verify the displacement and angular tilt of the moving platform. The results obtained from experimental, analytical and simulation methods are verified and found to be closer in all the three cases. This mechanism of parallel manipulator, no doubt shall find its way for performing applications like machining inclined holes, contour milling and angular machining with accuracy and precision.
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  • Modelling, Simulation and Analysis of Three Degrees of Freedom Triglide Parallel Manipulator

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Authors

C. Dhandapani
Dept. of Mechanical Engg., Rajagopal Polytechnic College, Gudiyattam-632602, Tamil Nadu, India
R. Sivaramakrishnan
Dept. of Production Technology, MIT Campus, Anna University, Chennai-600044, India
K. Kalaichelvan
Dept. of Production Technology, MIT Campus, Anna University, Chennai-600044, India

Abstract


This article presents modelling, simulation, kinematic and workspace analysis of a triglide type of three degrees of freedom parallel manipulator actuated by screw pairs and spherical pairs. A fabricated model of the manipulator has been used for experimental analysis to find the angular tilt of moving platform. A computer program with suitable algorithms is developed to find the displacement of the nuts of the screw pairs and the kinematic analysis is performed. In order to further validate the model the software package ADAMS (Automatic Dynamic Analysis of Mechanical Systems) is used to simulate to verify the displacement and angular tilt of the moving platform. The results obtained from experimental, analytical and simulation methods are verified and found to be closer in all the three cases. This mechanism of parallel manipulator, no doubt shall find its way for performing applications like machining inclined holes, contour milling and angular machining with accuracy and precision.