| Autor: |
M R Shivakumar, Anjan Kumar Dash, Manoj Kumar Reddy, Kakarla Tejaprakash, R. Srikrishna, R. Sriram, Sree Sailesh |
| Rok vydání: |
2020 |
| Předmět: |
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| DOI: |
10.21203/rs.3.rs-24966/v1 |
| Popis: |
In the optimum design of parallel manipulators, workspace of the manipulator is of greater importance. The shape and area of the workspace are the main parameters under this. In this paper, a new geometrical approach is presented to determine the shape and size of the constant orientation workspace for the 3-PRR planar parallel manipulators. All possibilities of shapes of workspaces are determined with variation of different parameters. For each shape of workspace corresponding geometrical conditions are also put forth. Closed from area expression of workspace is derived by geometrical approach for each shape. Such closed form expression of area is not possible with non-dimensional approach. This becomes extremely useful during optimal design procedure. A look-up table is also presented seeing which the designer can choose geometrical conditions between different parameters which will ensure a void free workspace. A case study is presented wherein a user gives his required workspace area and an algorithm is presented which gives all possible combinations of geometrical parameters satisfying the workspace area requirement. Then based on various considerations including singularity analysis an optimal parallel manipulator is offered for the task which does not have any void within the workspace having least/nil singularities. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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