eng
Science and Education Publishing
American Journal of Mechanical Engineering
2328-4110
2017-12-15
5
6
303
306
10.12691/ajme-5-6-14
AJME20175614
article
Kinematic Analysis of Planar Parallel Mechanism
František Trebuňa
1
Michal Kelemen
2
Ivan Virgala
ivan.virgala@tuke.sk
2
Alexander Gmiterko
2
Department of Applied Mechanics and Mechanical Engineering, Technical University of Košice, Faculty of Mechanical Engineering, Košice, Slovakia
Department of Mechatronics, Technical University of Košice / Faculty of Mechanical Engineering, Košice, Slovakia
The paper deals with kinematic model of parallel mechanism equipped with elastic members. The main aim is to determine the workspace of particular point of the mechanism in order to designing of whole mechanism for the future. Whole mechanisms should consist of several same segments which creates concept of serial mechanism. Since there is investigated parallel mechanism, at first has to be solved inverse kinematic model in order to obtain generalized variables, which are necessary for direct kinematic model. In the paper Jacobian matrix is derived for investigated mechanism. Then the algorithm for inverse kinematic model is described. The inverse kinematic model uses damped least squares method which appears as suitable method for our purposes. The results of inverse kinematic solution is consequently used for direct kinematic model, which is described by homogeneous transformation matrices. The planar parallel mechanism is simulated in software Matlab and the results are expressed in the graphs as well as our approach is discussed in the conclusion.
http://pubs.sciepub.com/ajme/5/6/14/ajme-5-6-14.pdf
actuator
algorithm
inverse kinematics
parallel mechanism