Effective configuration of a double triad planar parallel manipulator for precise positioning of heavy details during their assembling process
In the paper, dynamics analysis of a parallel manipulator is presented. It is an atypical manipulator, devoted to help in assembling of heavy industrial constructions. Few atypical properties are required: small workspace; slow velocities; high loads. Initially, a short discussion about definition of the parallel manipulators is presented, as well as the sketch of the proposed structure. In parallel, some definitions, assumptions and equations are presented for the used multibody methodology. The main part of the paper presents results of the numerical tests performed in order to determinate the best work configuration of the proposed structure. It is verified, that with the initially proposed one, not all of the work requirements are satisfied, mainly about the load distribution. Obtained numerical results are confirmed by some diagrammatic simplified analysis of the load distribution. With the same diagrammatic method, alternative configurations are proposed and verified numerically, next. At the end, final configuration is presented as the one satisfying the requirements.
KeywordsParallel Robots Multibody System Initial Configuration Problem
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