Simulation and design tool for performance analysis of planar parallel manipulators


Kucuk S.

SIMULATION-TRANSACTIONS OF THE SOCIETY FOR MODELING AND SIMULATION INTERNATIONAL, vol.88, no.5, pp.542-556, 2012 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 88 Issue: 5
  • Publication Date: 2012
  • Doi Number: 10.1177/0037549711414157
  • Title of Journal : SIMULATION-TRANSACTIONS OF THE SOCIETY FOR MODELING AND SIMULATION INTERNATIONAL
  • Page Numbers: pp.542-556

Abstract

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.