Amirkabir Journal of Mechanical Engineering

Amirkabir Journal of Mechanical Engineering

Singularity, dynamics, and kinetics analysis of a 5 degrees of freedom parallel robot using screw theory

Document Type : Research Article

Authors
Saeed Khosravi 1, 2
Maryam Ghasabzadeh Saryazdi 1
1 Technology Institute of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran
2 Mechanical Engineering Department, Amirkabir University of Technology, Tehran, Iran
10.22060/mej.2023.22216.7580
Abstract
This paper examines a parallel robot with 5 degrees of freedom with a linear platform. Parallel robots have a restricted workspace, and singularities make the workspace even more confined. So the behavior of the robot in the workplace is examined by focusing on kinematics and dynamics. To do kinematic analysis, the constraint equations are developed using the geometric relations, and the speed and acceleration equations of the robot are derived. The Jacobian matrix is then calculated using the screw theory, and the state of the singularities in the workspace is determined based on the Jacobian matrix. Considering the singularity and physical and geometric limitations, an algorithm for calculating the workspace is presented. In addition, the kinematic index of dexterity is investigated using the Jacobian matrix as a measure of the robot's closeness to the singular configurations. The results of solving kinematic and dynamic problems are validated with the output of the simulation in MATLAB software.
Keywords
Kinematics and dynamics
singularity analysis
workspace analysis
screw theory
parallel robot
Subjects
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Amirkabir Journal of Mechanical Engineering
Volume 55, Issue 8
November 2023
Pages 943-970