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All Journal JISI UMJ (Jurnal Integrasi Sistem Industri UMJ) Jurnal Pengabdian UntukMu NegeRI JURNAL PHOTON Jurnal POLIMESIN Jurnal Surya Teknika
Indra Hasan
Universitas Muhammadiyah Riau
Agriculture, Biological Sciences & Forestry Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Chemistry Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Energy Engineering Industrial & Manufacturing Engineering Law, Crime, Criminology & Criminal Justice Materials Science & Nanotechnology Mechanical Engineering Nursing Physics Social Sciences

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Journal : Jurnal POLIMESIN

 1 
Mobility, Kinematic, Singularity, and Workspace Analysis of a Translational Parallel Manipulator with 2(RRPaRR)-PRRR Kinematic Chains Adriyan Adriyan; Indra Hasan
Jurnal POLIMESIN Vol 21, No 5 (2023): October
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/jpl.v21i5.4075

Abstract

This article presents an asymmetric parallel manipulator with 2(RRPaRR)-PRRR kinematic chains. This manipulator aims to operate as a lower-mobility parallel manipulator with the pure translational motion of its platform. Therefore, a series of analyses are performed to fulfill this intention. First, the mobility analysis is performed by applying the Grübler-Kutzbach equation and the screw theory. Then, the kinematic, singularity, and workspace analysis are applied to analyze this PM. As  a result, the application of the screw theory for the configuration of its kinematic chains shows its mobility in a pure translational motion in space. Then, this manipulator has a closed-form solution for its direct kinematic problem expressed in a quadratic equation. By applying singularity and workspace analysis via visualization, the singularity-free workspace along the z-axis of its workspace can be identified. This can later be used as a useful workspace. Overall, the presented manipulator can be applied to a translational parallel manipulator
Co-Authors - Jusnita Adriyan, Adriyan Denur Denur Denur Japri Japri Japri Jusnita Jusnita Legisnal Hakim Muhammad Ridha Fauzi Reky Zukriady Syahrul Rahmad Yuhelson Yuhelson Yuhelson