International Conference on Advanced Material Science and Environmental Engineering (AMSEE 2016)
Position Analysis Of 3-DOF 3-RPS Parallel
Manipulator
Khalid Ali Abdelaziz Ali and Ying Liu
Key Laboratory of High Speed Cutting &Precision Machining, Tianjin University of Technology and Education, Dagu nanlu road,
Tianjin, China
Abstract—A new three Degree Of Freedom (3-DOF) parallel choice. Attached to the limbs of the parallel robot is the
manipulator has been proposed in this study. Because the parallel moving platform which served as end effectors[1] .
manipulator has three Degree Of Freedom (DOF), one
translation degree of freedom and two rotational degrees of Because parallel manipulator has characteristics as above,
freedom. The model is established by using UG 8.0 and The it is able to be used as vehicle driving simulator. When it is
inverse kinematic analysis and simulation results using ADAMS. used as vehicle driving manipulator, there are many
advantages such as low cost, professional driver training, high
Keywords-design and modeling; inverse kinematic analysis; precision, safety, and so on.
simulation using ADAMS; results
II. MODELING USING UG8.0
I. INTRODUCTION Design the parts of 3DOF parallel manipulator and
The design of parallel manipulators can be trace back to assembly modeled by using UG 8.0.
1962, when Gough and Whitehall (1962) devised a six-linear
jack system for used as a universal tire- testing machine.
Stewart (1965) designs a platform manipulator for use as an
aircraft simulator in 1965. Since then a systematic study of the
kinematic structure of parallel manipulators in 1983 was
performed by Hunt (1983). Parallel manipulators have been
studied extensively by numerous researchers (Clearly and Arai,
1991; Fitcher , 1986; Grffis and Duffy, 1989; Innocenti and
Parenti-Castelli, 1990; Mohamed and Duffy, 1985; Nanua et
al., 1990; Zhang and Song, 1994) [1]
Parallel platform is gaining popularity and widely used in
many applications with the development and application of
virtual reality technology which include among others, vehicle
driving simulator, parallel kinematic machine, flight simulator,
FIGURE I. 3 DOF PARALLEL MANIPULATOR IN UG
simulation of seismic waves, pointing and polishing machine
and earthquake wave simulator etc. Moreover, it continue to
expand into new application areas[2] .Parallel manipulator is a
field of interest for a many researchers due its diversified
applications, high accuracy and speed more than serial
manipulator.
Researchers are battling to come up with new ideas on how
to deal with the working space problem of the manipulator
without compromising the other design parameters. Its
accuracy and repeatability is an attribute to its high stiffness
and low inertia and also it has great ability to withstand heavy
load due to the fact that the load is merely assumed to be
distributed to the platform which in turn the platform is
supported by limbs., the parallel robots consists of fixed base
which might be of various shapes depend on designers choice
and applications intended to performed, but usually the base
shape is not playing an important role during the application.
Attached to the base are limbs which is an assembly of more FIGURE II. 3 DOF PARALLEL MANIPULATOR
than one joint, the joint assembly also depend on the designers
© 2016. The authors - Published by Atlantis Press 128
TABLE I. THE DESIGN SPECIFICATION d2i= [P+ aRb. bi – ai]T [P+ aRb. bi – ai] for i=1,2,3 (6)
Base radius (mm) 600
Manipulator radius (mm) 352.7865
d2i=(px-axi+bxiux+byivx)2+(py-ayi+bxiuy+byivy)2+(pz+bxiuz+byivz)2
Limb length from the center line of the R joint to centre of 800 (7)
the S joint (mm)
Distance between the fixed base and spherical joint 895.6449
Inserting equations (2) , (3) , (4) , (5) into (7) and writing
Distance between the manipulator centers (mm) 870.7708 the equation for each limb, i = 1,2,3yield
Limb angle º (βi) 18 º
Distance from fixed frame to revolute joint (mm)(g) 500
d12=px2+py2+pz2+k1+g2+h2 (8)
Distance from moving frame to spherical joint (mm) (h) 252.7865
Where
pz distance (mm) 860.845
k1= 2h(px + py - pz )-
2g(px+h )
III. INVERSE KINEMATIC ANALYSIS
For the inverse kinematics problem, the position vector p
and the rotation matrix aRb of frame B with respect to A are d22 =p2x+ p2y+ p2z+k2+ g2+h2 (9)
given and the limb length di , i = 1,2,3 are to be found.
Consider the Platform in figure II [3]. Where
The length ith of the leg is given by
k2=-h(px +py -
di= p+ ARB.Bbi – ai (1) pz )+1.732h(px( )+py(
)+pz )+2g(0.5px-
From Figure2, the location of the ith attachment point (bi) 0.866py)+hg(0.866 -
on the moving platform can be found, bi and ai are the radius 0.5 )+1.732gh(0.5(
of the moving platform and fixed base, respectively. )-
0.866( ))
bi=[ biu, biv, biw] T, ai=[aix, aiy, aiz]T
d32= p2x+ p2y+ p2z+k3+ g2+h2 (10)
B T B T B T
b1=[h 0 0] , b2=[-0.5h 0.866h 0] , b3=[-0.5h -0.866h0]
(2) Where
a1=[h 0 0]T , a2=[-0.5g 0.866g 0]T, a3=[-0.5g -0.866g 0]T k3=-h(px +py -pz )-
(3) 1.732h(px( )+py(
)+pz )+2g(0.5px+0
.866py)-hg(0.5 +0.866 )-
p=[px py pz]T (4) 1.732gh(0.5( )+0.866(
))
A
RB= RZ(γ) RY(β) RX(α)= IV. LENGTH OF LIMB
Using matlab for calculate to solve the equations (8,9,10) to
get (di). We will add 50-100mm for pz and insert (αº) show
table II.
=
(5)
The length of the ith limb is obtained by taking the. dot
product of the vector di by its self.
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TABLE II. INVERSE KINEMATICS RESULTS IN MATLAB was applied to the model accordingly with the prismatic joint
S/N αº βº γº Px Py pz Cal as the actuated joint as in the chart below. Also force/friction
(mm) (mm) (mm) di ( mm) was applied to prismatic joint of each limb with gravitational
force of 15680N applied to the moving platform centre also the
1 0 0 0 0 0 910.845 943.7972 maximum stroke length is 100mm. For the model in question
2 0 0 0 0 0 960.845 992.1379 kinematic simulation. Two different functions were used i.e.
3 2 0 0 0 0 910.845 943.7972
4 8 0 0 0 0 960.845 992.1379
SINE FUNCTION and STEP FUNCTION. Both the results are
tabulated in Table III.
V. INVERSE KINEMATIC SIMULATION
The manipulator is imported to ADAMS and constrains
TABLE III. INVERSE KINEMATICS RESULTS IN ADAMS AND CALCULATION IN MATLAB
S/N Functions Length Error
Cal Sim
Increment ( mm)
d ( mm) d ( mm)
( mm)
1 2813.071d*(1-sin(time)) for both the limbs 100 992.1379 993.3182 1.18
2 2813.071d*(1-sin(time)) , 2813.071d*(1-sin(time)) and 100 992.1379 993.5403 1.402
2813.071d*(1+sin(time))
3 1782.817*(step(time,0,0,1,0.1)-step(time,0,0,2,0.1)) 100 992.1379 993.3587 1.221
for both the limbs
4 1782.817*(step(time,0,0,1,0.1)-step(time,0,0,2,0.1)), 100 992.1379 991.3614 0.777
1782.817*(step(time,0,0,3,0.1)-step(time,0,0,6,0.1)) ,and
1782.817*(step(time,0,0,3,0.1)-step(time,0,0,6,0.1))
Sine Function of 2813.071d*(1-sin(time)) ,
2813.071d*(1-sin(time)) and 2813.071d*(1+sin(time)) were
used at first, second and third limb to find the position of the
moving prismatic joint parts, force at each prismatic joint.
FIGURE V. PLOT OF TOTAL LIMBS LENGTH AFTER SIMULATION
FIGURE III. MODEL BEFORE THE SIMULATION (100MM)
Sine Function of 2813.071d*(1-sin(time)) were used Step Function of 1782.817*(step(time,0,0,1,0.1)-
at each actuated joint of the limb to find the position of the step(time,0,0,2,0.1)) , were used at each actuated joint of the
moving prismatic joint parts. limb to find the position of the moving prismatic joint parts.
FIGURE VI. PLOT OF TOTAL LIMBS LENGTH AFTER
FIGURE IV. PLOT OF TOTAL LIMBS LENGTH AFTER SIMULATION SIMULATION(100MM)
(100MM)
Step Function of 1782.817*(step(time,0,0,1,0.1)-
step(time,0,0,2,0.1)), 1782.817*(step(time,0,0,3,0.1)-
130
step(time,0,0,6,0.1)) ,and 1782.817*(step(time,0,0,3,0.1)-
step(time,0,0,6,0.1)) were used at first, second and third limb
to find the position of the moving prismatic joint parts.
FIGURE VII. PLOT OF TOTAL LIMBS LENGTH AFTER
SIMULATION(100MM)
ACKNOWLEDGMENT
The authors would like to thank the anonymous reviewers
for their useful suggestions during the revision of the paper.
The authors also would like to thank Scientific Research
Development Fund of Tianjin University of Technology and
Education (KJY14-02) for his valuable suggestions and kind
help.
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