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COBEM 2019
25th International Congress of Mechanical Engineering
ANALYSIS OF A PARALLEL ROBOT FOR MICRO MOVEMENTS
Submission Author:
Rafael Antonio Comparsi Laranja , RS
Co-Authors:
Mateus Vagner Guedes de Almeida, Fabiano Disconzi Wildner, Mario Sobczyk, Rafael Antonio Comparsi Laranja
Presenter: Fabiano Disconzi Wildner
doi://10.26678/ABCM.COBEM2019.COB2019-0150
Abstract
The 3-RPS is a parallel mechanism that has three degrees of freedom. It has a cost advantage compared to the Stewart Platform manipulator in applications where six degrees of freedom are not required and, in addition, has a higher weight / load ratio than serial robots. In this paper, a study is proposed for the analysis of a 3-RPS type robot. The study deals with the analysis of the inverse and direct kinematics equations and the theoretical and effective workspace of the manipulator. The theoretical work space is obtained from the inverse kinematics equations, while the effective workspace is obtained by solving the direct kinematics equations for different legs values of the mechanism. The results show that the 3-RPS mechanism has movement restriction due to physical limitations imposed by spherical joints, which makes it impossible to reach the theoretical work space. On the other hand, from the obtained results of the effective work volume it was possible to conclude that the studied mechanism is a good choice for the execution of micro movements.
Keywords
3-RPS, Parallel robot, Kinematics, Workspace, dynamics
