Kinematic Analysis and MATLAB Applications of 2-3RRR Mechanism Chain

Authors

  • Bahar Kalkan Department of Mathematics, Faculty of Science, Van Yuzuncu Yil University, Van, 65080
  • Åženay Baydaş Department of Mathematics, Faculty of Science, Van Yuzuncu Yil University, Van, 65080
  • Bulent Karakaş Department of Business Administration, Faculty of Economics and Administrative Science, Van Yuzuncu Yil University, Van, 65080

DOI:

https://doi.org/10.26713/jims.v12i2.1099

Keywords:

Denavit-Hartenberg representation, mechanism chain, Stewart platform

Abstract

The Stewart platform is a mechanism design based on movement of two planes relative to each other by the motion of links. These type of mechanism can be structurally designed in many different ways. In this paper, the joints of connection points of fixed platform to moving platform is determined as RRR with three legs. A software has been developed in the MATLAB environment, which makes calculations using this Stewart platfom mechanism's transformation matrix by applying Denavit Hartenberg convention.

Downloads

Download data is not yet available.

References

J. E. Gwinnett, Amusement device, US Patent No. 1,789,680 (1931), 1 – 5.

W. L. V. Pollard, Position controlling apparatus, US Patent No. 2,286,571 (1942), 1 – 5.

D. Stewart, A platform with six degrees of freedom, Proceedings of the Institution of Mechanical Engineers (Part I) 180(15) (1965), 371 – 386, DOI: 10.1243/PIME_PROC_1965_180_029_02.

R. Clavel, Conception D'un Robot Parallele Rapide A 4 Degres De Liberte, Presentee Au Departement De Microtechnique, Ecole Polytechnique Federale de Lausanne, Lausanne (1991), DOI: 10.5075/epflthesis-925.

T. K. Tanev, Kinematics of a hybrid (parallel-serial) robot manipulator, Mechanism and Machine Theory 35(9) (2000), 1183 – 1196, DOI: 10.1016/S0094-114X(99)00073-7.

M. Shahinpoor, Kinematics of a parallel-serial (hybrid) manipulator, Journal of Robotic Systems 9(1) (1992), 17 – 36, DOI: 10.1002/rob.4620090103.

J. M. McCarthy, Introduction to Theoretical Kinematics, The MIT Press, USA (1990), DOI: 10.1017/S0263574700015721.

S. B. Niku, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, Upper Saddle River, New Jersey, USA (2001).

Downloads

Published

2020-06-30
CITATION

How to Cite

Kalkan, B., Baydaş, Åženay, & Karakaş, B. (2020). Kinematic Analysis and MATLAB Applications of 2-3RRR Mechanism Chain. Journal of Informatics and Mathematical Sciences, 12(2), 107–121. https://doi.org/10.26713/jims.v12i2.1099

Issue

Section

Research Articles