APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR

Authors : Hüseyin Mutlu, İskender Özkul

Pages : 79-87

Doi:10.31127/tuje.345351

View : 12 | Download : 6

Publication Date : 2018-05-15

Article Type : Research Paper

Abstract :Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a twopoint, two-velocity and three point-position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically
Keywords : Mechanism, Manipulator, robotic