Positioning accuracy analysis of the parallel mechanism near singular positions

• Autorzy: Bałchanowski J.

Identyfikatory

DOI

10.1515/ijame-2015-0001

• Języki publikacji: EN

Abstrakty

EN

This paper presents a method of numerical modelling of parallel mechanisms with clearances in their kinematic pairs taken into account. The pairs with clearances are modelled as shape connections based on constraints in the form of contact interactions. Using the created models simulations were run to determine the positioning errors of the links in a parallel mechanism with three degrees of freedom (MR2120). In particular, the accuracy of positioning the links close to the mechanism singular configurations was studied.

Słowa kluczowe

EN

clearances in the joint; parallel mechanism; singular positions

PL

pojedyncze obiekty; mechanizmy równoległe; modelowanie numeryczne

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2015
• Tom: Vol. 20, no. 1
• Strony: 5--18
• Opis fizyczny: Bibliogr. 14 poz., rys., tab., wykr.

Twórcy

autor

Bałchanowski J.

• Department of Biomedical Engineering Mechatronics and Theory of Mechanisms Faculty of Mechanical Engineering Wroclaw University of Technology ul. Łukasiewicza 7/9, 50-371 Wrocław, POLAND

Bibliografia

• [1] Bałchanowski J. (2014a): Modelling and simulation researches of translational parallel mechanism with the joints clearance taking into account (in Polish). – Modelling in Engineering”, no 50 (tom 19), pp.5-12.
• [2] Bałchanowski J. (2014b): Topology and analysis of the singularities of a parallel mechanism with three degrees of freedom. – Archives of Civil and Mechanical Engineering, vol.14, No.1, pp.80-87.
• [3] Bałchanowski J. (2000): Selected problems of parallel manipulator computer simulation. – In: VIII International Congress on the Theory of Machines and Mechanisms. University of Liberec, pp.67-72.
• [4] Bałchanowski J. and Gronowicz A. (2001): Topology and geometry of 3 dof parallel manipulators. – In: Eighth IFToMM International Symposium on Theory of Machines and Mechanisms. SYROM 2001, Bukareszt, 25 – 30.
• [5] Bałchanowski J. (2008): Topology, geometry and kinematics of selected translational parallel mechanisms (in Polish). – Mechanical Review, R.67, No.10, pp.20-26.
• [6] Bałchanowski J. (2014c): Some aspects of topology and kinematics of a 3DOF translational parallel mechanism. – International Journal of Applied Mechanics and Engineering, vol.19, No.1, pp.5-15.
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