Simulation of kinematic and workspace analysis of 3-PRS parallel manipulator

摘要

In the present era, the competitive producers are forced to use maximally newer advanced technology and its effective fast implementation using various available tools for synthesis of new product requirement. Use of current state of art computer aided technology supports the creation of flexible assemblies and their built up though unified modular approach. The design of robotic mechanism is a complex process involving geometric, kinematic, singularity analyses during its synthesis phase. The present work is aimed at the effective utilization of CAx system Pro/Engineer tools for creation, ease in modification and analysis of spatial parallel manipulator. Three degrees of freedom of 3-PRS parallel manipulator is obtained using mobility analysis. Parallel manipulator with 3-DOF with 3-PRS configuration is investigated. The kinematics simulation of the robot is carried out using mechanism simulation and compared with closed form solutions. The concept of reachable, orientation and dexterous workspace is expressed. Tool tip coordinates obtained through simulation are plotted for workspace development. Inner and outer workspace boundaries are developed and analyzed for four different cases to understand the problem of interior singularity within workspace.