Simulation and design tool for performance analysis of planar parallel manipulators


Kucuk S.

SIMULATION-TRANSACTIONS OF THE SOCIETY FOR MODELING AND SIMULATION INTERNATIONAL, cilt.88, sa.5, ss.542-556, 2012 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 88 Konu: 5
  • Basım Tarihi: 2012
  • Doi Numarası: 10.1177/0037549711414157
  • Dergi Adı: SIMULATION-TRANSACTIONS OF THE SOCIETY FOR MODELING AND SIMULATION INTERNATIONAL
  • Sayfa Sayıları: ss.542-556

Özet

In this paper, a novel interactive simulation and design tool based on a MATLAB graphical user interface (GUI) is developed for the performance analysis of planar parallel manipulators (PPMs), which are a special group among the other parallel robot manipulators. The novel simulation and design tool (SIDEP) for the performance analysis of PPMs provides a suite of analysis tools allowing forward and inverse kinematics, Jacobian matrices, workspaces and singularities to be analyzed in a straightforward manner. As a simulation and design tool, SIDEP allows researchers to change the parameters such as base and end-effector coordinates the side length of the equilateral triangle moving platform and link lengths in order to interactively design their manipulators. The three-degree-of-freedom RRR and RPR PPMs are given as examples to illustrate the simulation and design principles of SIDEP.