SYNTHESIS OF A NOVEL FIVE-DEGREES–OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR

Authors

  • Wesley Emile Dharmalingum Discipline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa https://orcid.org/0000-0002-4015-1087
  • Jared Padayachee Discipline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa
  • Glen Bright Discipline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa

DOI:

https://doi.org/10.7166/32-1-2382

Keywords:

Parallel Kinematic Manipulator, Kinematics, MATLAB, Newton Raphson

Abstract

This paper presents the design and analysis of a novel five degrees-of- freedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, and robotic machining applications. The 2- R(Pa-IQ)RR, R(Pa-IQ)R manipulator has two rotational DOFs, one parasitic rotation, and three translational DOFs. In comparison with other 5- and 6- DOF PKMs, this PKM possesses three pairs of coplanar legs that contain nested kinematic chains, and it makes exclusive use of revolute and prismatic joints. The inverse kinematic analysis is a novel extension of the geometric (vector) method with the analysis of inner and outer kinematic chains. The forward kinematic analysis was solved using the Newton Raphson (NR) method. The results of the forward and inverse kinematic analyses were validated with SolidWorks® and MATLAB® simulations.

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Author Biographies

Wesley Emile Dharmalingum, Discipline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa

Mechanical Engineering Masters student

Jared Padayachee, Discipline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa

Senior Lecturer - Department of Mechanical Engineering

Glen Bright, Discipline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa

Dean of Engineering

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Published

2021-05-28

How to Cite

Dharmalingum, W. E., Padayachee, J., & Bright, G. (2021). SYNTHESIS OF A NOVEL FIVE-DEGREES–OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR. The South African Journal of Industrial Engineering, 32(1), 131–143. https://doi.org/10.7166/32-1-2382

Issue

Vol. 32 No. 1 (2021)

Section

General Articles

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