Structural Synthesis of Parallel Manipulators Based on a Different Approach

This work tries to address structural synthesis procedures of parallel manipulators in a different point of view. In generic methodology while structural synthesis starts from deciding the structure of the platforms and computing the structure of the legs in terms of specified constraints, proposed procedure follows an inverse analogy. After the determination of desired number of legs and subspace constraints of the whole manipulator, possible configurations of platform structures are extracted and checked for their constructability. Throughout the study proposed procedure was introduced in detail along with the constraint equations. Utilizing introduced procedure for given examples, structural groups of parallel manipulators were created with respect to the desired constraints and actuators were attached for mobility considerations. All of the results were tabulated throughout the study in order to form various kinds of parallel manipulators as parallel platform manipulators, serial platform manipulators, and serial-parallel platform manipulators.

Paralel Manipülatörlerin Farklı Bir Yaklaşıma Dayalı Yapısal Sentezi

Bu çalışmada paralel manipülatörlerin yapısal sentez prosedürleri farklı bir bakış açısıyla ele alınmaya çalışılmıştır. Klasik yöntemlerde yapısal sentez ilk önce manipülatör platform yapılarının belirlenmesiyle başlamakta ve daha sonra belirtilen tasarım kısıtlamaları doğrultusunda bacak yapılarına geçilmektedir. Bu çalışmada önerilen yöntem ise klasik uygulamalara göre ters bir benzetimi takip etmektedir. Bu doğrultuda sunulan yöntem, tasarlanacak manipülatör için istenilen bacak sayıları ve çalışma uzayı kısıtları belirlendikten sonra, olası tüm platform yapılarının oluşturulabilmesini sağlamakta, kısıt denklemleri ile de oluşturulan yapıların geçerliliğini belirlemektedir. Çalışma içerisinde önerilen yöntem kullanılarak, verilen tasarım örnekleri doğrultusunda paralel manipülatörlerin yapısal grupları oluşturulmuş ve istenilen serbestlik derecesi kriterlerine göre gerekli eyleyiciler yerleştirilmiştir. Elde edilen sonuçlar, paralel platform, seri platform ve seri-paralel platform manipülatörlerinin oluşturulabilmeleri için tablolar içerisinde sunulmuştur.

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