Research Article | OPEN ACCESS
Kinematic and Dexterity Analysis of a 3-DOF Parallel Manipulator
1, 2Mustafa J. Hayawi, 1A.A. Mat Isa, 1M. Azhan Anuar and 1Abdul Rahman Omar
1Faculty of Mechanical Engineering, Universiti Teknologi MARA (UiTM), Shah Alam, Selangor, 40450, Malaysia
2Faculty of Education for Pure Sciences, ThiQar University, 64001 ThiQar, Iraq
Research Journal of Applied Sciences, Engineering and Technology 2016 2:239-248
Received: September 12, 2015 | Accepted: September 29, 2015 | Published: January 20, 2016
Abstract
A new three Degree Of Freedom (3-DOF) parallel manipulator has been proposed in this study. Because the parallel manipulator has three Degree Of Freedom (DOF), one translation degree of freedom and two rotational degrees of freedom, it has received considerable attention from both researchers and manufacturers over the past years. The inverse kinematic and Jacobain matrix were derived. The dexterity of the parallel manipulator is presented. The key issue of how the kinematic performance in term of dexterity varies with differences in the structural parameters of the parallel manipulator is investigated. The simulation results, using MATLAB, testify the validity of the analytic model and illustrate the structural parameters have direct effect upon dexterity characteristic of the 3-DOF parallel manipulator.
Keywords:
Dexterity analysis, jacobian matrix, kinematic analysis, parallel manipulator,
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Competing interests
The authors have no competing interests.
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This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
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