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RISS 인기검색어
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- 주제어 : 3-DOF translational PKM (검색결과 2 건)
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Multi-objective optimization of a 3-DOF translational parallel kinematic machine
S. Shankar Ganesh,A. B. Koteswara Rao,Sanjay Darvekar 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.12
In this paper, stiffness modelling and analysis of a typical 3-DOF parallel kinematic machine (PKM) that provides translational motion along X, Y and Z axes is presented. The mechanism consists of three limbs each having an arm and a forearm with prismatic-revoluterevolute- revolute joints (PRRR). The joint arrangement is in such a way that the moving or tool platform maintains same orientation in the entire workspace. Through inverse kinematics, the joint angles for a given position of tool platform necessary for the stiffness modelling and analysis are obtained. The stiffness modelling is based on the compliance matrices of arm and forearm of each limb. Typical non-dimensional performance indices, namely, workspace volume index (WVI), global translational stiffness index (GTSI), and global rotational stiffness index (GRSI), are introduced and used to study the influence of dimensions. Attempts are also made to find the optimal dimensions of the translational PKM using multi-objective optimization based on the genetic algorithms (MOGA) in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the PKM under study.
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Inverse dynamics of a 3-DOF translational parallel kinematic machine
S. Shankar Ganesh,A. B. Koteswara Rao 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.11
In this paper, kinematics and dynamics modeling of a typical 3-Degree of freedom (DOF) translational Parallel kinematic machine(PKM) is carried out. The kinematic structure of PKM consists of three limbs, connecting the base and the tool platform. Each limb consistsof an arm and a forearm with joints Prismatic-revolute-revolute-revolute (PRRR). The arrangement of joints are in such a way thatthe tool platform will have pure translational motion along the Cartesian axes. Inverse kinematic relations that are necessary to find theslider positions and joint angles for a given position of tool platform are derived. The dynamics model is then derived based on Naturalorhogonal complement (NOC). The inverse dynamics equations presented are used to compute actuator forces. The actuator forces usingNOC are validated with those obtained based on Lagrangian method. The effect of slider, arm, and forearm inertia on the actuator forcesis studied to know whether to neglect the arm and forearm inertias while computing the actuator forces for PKM. Finally, an attempt ismade to find the optimal location of a circular trajectory using Genetic algorithms (GA) with minimization of Grand total actuator force(GTAF) as objective function.
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