Kinematics, structural analysis and control of 3-PPSS parallel manipulator

Abstract

Industries encourage the use of low-cost compact and easily controllable equipments to implement automation due to the lack of skilled labors and low productivity. This demands the need for more efficient and affordable novel mechanisms and processes. In this paper, the kinematic analysis of a 3-PPSS (Pprismatic joint, S- spherical joint) parallel manipulator having an equilateral mobile platform is explained. The Kinematic analysis is done using the Modified Denavit-Hartenberg (DH) modelling technique. The inverse kinematic equations are further solved using Levenberg-Marquardt Algorithm to obtain an exact solution for the joint variables corresponding to an instantaneous pose of the end effector. Static structural analysis is done using ANSYS software to determine the deformations and stresses induced. Optimum dimensions are chosen for the manipulator based on this analysis. Finally, an ARDUINO based control is implemented to manipulate the mobile platform by controlling the active prismatic joints.