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Design, static analysis, and dynamic system modeling of 3-PPRS parallel manipulator with load-balancing UPS leg

Published online by Cambridge University Press:  22 May 2023

A. Xavier Reni Prasad Open the ORCID record for A. Xavier Reni Prasad [Opens in a new window]  and
M. Ganesh Open the ORCID record for M. Ganesh [Opens in a new window]
A. Xavier Reni Prasad*
Affiliation:
School of Mechanical Engineering, SASTRA Deemed to be University, Tamil Nadu, India
M. Ganesh
Affiliation:
School of Mechanical Engineering, SASTRA Deemed to be University, Tamil Nadu, India
*
Corresponding author: A. Xavier Reni Prasad; Email: xavierreniprasad@sastra.ac.in
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Abstract

As a heavy load is applied to the parallel manipulators, it causes inaccuracies while positioning the end-effector or unbalanced dynamic forces in the legs. Various load-balancing techniques overcome this. However, the disadvantage of most load-balancing mechanisms is that they add inertia to the assembly and decrease the speed of motion. This article studies a new load-balancing method (a passive damper mechanism). The passive balancing mechanism is proposed to negate the inertia effects while countering the static inaccuracies in the parallel mechanism. This is verified by the structural analysis of the mechanism. The impact of the damper element on the dynamics of the mechanism is unknown. Hence, a complete mathematical model for the balancing mechanism has been developed to study its impact on the dynamics of the entire structure. Laplace transformations characterize the system response. The inclusion of a passive damper in a 3-prismatic-prismatic-revolute-spherical system was examined and found to be stable and critically damped. Such a passive damper was envisaged to facilitate additional force transmission for the actuators, and the DC gain from the system response validates the torque support for the actuators.

Keywords

parallel manipulatorsend effectorload balancing mechanismrobot dynamicsdamper element3-PPRSa passive damper mechanismmathematical modelvibrationstiffness
Type
Research Article
Information
Robotica , Volume 41 , Issue 9 , September 2023 , pp. 2735 - 2753
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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