research-article

Kinematic and Velocity Analysis of 3-DOF Parallel Kinematic Machine for Drilling Operation

Authors:

Saket M. Pardeshi,

Arockia Selvakumar Arockia DossAuthors Info & Claims

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

Article No.: 18, Pages 1 - 6

https://doi.org/10.1145/3132446.3134882

Published: 28 June 2017 Publication History

Abstract

The cantilever structure of serial manipulator leads to bending under high load and vibration at high speed which affects precision and creates other problems. Parallel manipulator offers alternative to serial manipulator with higher precision and high payload capacity. Parallel manipulator with less degrees of freedom are used for drilling, contour milling, welding and tapping application with better accuracy and faster repeatability. In this paper a 3DOF parallel kinematic machine is proposed for drilling applications. The configuration of proposed PKM (Parallel Kinematic Machine) is 2PUS+PRR. The moving platform is connected with fixed platform using two links with Prismatic-Universal-Spherical (PUS) joints and one link with Prismatic-Rotational -Rotational joints (PRR). Rotational, Universal and Spherical joints are passive joints whereas prismatic joints are actuated by screw pairs with stepper motor. This paper derives Kinematic analysis, velocity equations mathematically.

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Cited By

Arockia Doss ASchilberg DSasaki MSivaramakrishnan R(2023)Experimental investigations and error analysis on 3-PRS parallel kinematic machineMaterials Today: Proceedings10.1016/j.matpr.2023.05.686Online publication date: Jun-2023
https://doi.org/10.1016/j.matpr.2023.05.686
Lingampally PDoss AKadiyam V(2022)Wearable neck assistive device strain evaluation study on surface neck muscles for head/neck movementsTechnology and Health Care10.3233/THC-22010130:6(1503-1513)Online publication date: 12-Nov-2022
https://doi.org/10.3233/THC-220101
Lingampally PArockia Doss A(2022)Design, Implementation, and Experimental Study on 3-RPS Parallel Manipulator-Based Cervical Collar Therapy Device for Elderly Patients Suffering from Cervical Spine InjuriesHandbook of Smart Materials, Technologies, and Devices10.1007/978-3-030-84205-5_161(847-869)Online publication date: 10-Nov-2022
https://doi.org/10.1007/978-3-030-84205-5_161
Show More Cited By

Index Terms

Kinematic and Velocity Analysis of 3-DOF Parallel Kinematic Machine for Drilling Operation

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cover image ACM Other conferences

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

June 2017

325 pages

ISBN:9781450352949

DOI:10.1145/3132446

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IIT-Delhi: IIT-Delhi

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Published: 28 June 2017

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AIR '17

AIR '17: Advances in Robotics

June 28 - July 2, 2017

New Delhi, India

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Cited By

Arockia Doss ASchilberg DSasaki MSivaramakrishnan R(2023)Experimental investigations and error analysis on 3-PRS parallel kinematic machineMaterials Today: Proceedings10.1016/j.matpr.2023.05.686Online publication date: Jun-2023
https://doi.org/10.1016/j.matpr.2023.05.686
Lingampally PDoss AKadiyam V(2022)Wearable neck assistive device strain evaluation study on surface neck muscles for head/neck movementsTechnology and Health Care10.3233/THC-22010130:6(1503-1513)Online publication date: 12-Nov-2022
https://doi.org/10.3233/THC-220101
Lingampally PArockia Doss A(2022)Design, Implementation, and Experimental Study on 3-RPS Parallel Manipulator-Based Cervical Collar Therapy Device for Elderly Patients Suffering from Cervical Spine InjuriesHandbook of Smart Materials, Technologies, and Devices10.1007/978-3-030-84205-5_161(847-869)Online publication date: 10-Nov-2022
https://doi.org/10.1007/978-3-030-84205-5_161
Lingampally PArockia Doss A(2021)Design, Implementation, and Experimental Study on 3-RPS Parallel Manipulator-Based Cervical Collar Therapy Device for Elderly Patients Suffering from Cervical Spine InjuriesHandbook of Smart Materials, Technologies, and Devices10.1007/978-3-030-58675-1_161-1(1-23)Online publication date: 18-Dec-2021
https://doi.org/10.1007/978-3-030-58675-1_161-1

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