Abstract
In this paper, kinematics, workspace, and dynamic analysis of a two degree of freedom (2-DOF) translational parallel robot are carried out. The mechanism of the 2-DOF translational parallel robot consists of four links. Links 1 and 2 consist of three revolute joints and link 3 and 4 consist of three revolute joints and one prismatic joint. These four links are attached to the end effector. The inverse kinematics analysis is carried out to find the joint positions for a particular position of the moving platform. Using stiffness and dynamic mass matrices, the natural frequencies of the parallel kinematic machine (PKM) are obtained. Since the first natural frequency is responsible for higher vibrations, the first natural frequency is considered as performance measure of the PKM i.e. global natural frequency index (GNFI). Using GNFI as the objective, the optimal dimensions of the PKM are obtained.
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The authors would like to express sincere thanks to the administration of Gayatri Vidya Parishad College of Engineering, Visakhapatnam, Andhra Pradesh (India) for providing facilities to carry out this research work.
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S. Shankar Ganesh is an Associate Professor of Mechanical Engg., Gayatri Vidya Parishad College of Engineering (Autonomous), Visakhapatnam, India. He received his Ph.D. in Mechanical Engg. from JNTUK, Kakinada, India in 2017. His areas of interest are PKMs, design optimization, robotics.
A. B. Koteswara Rao is a Professor of Mechanical Engg., and Principal of Gayatri Vidya Parishad College of Engineering (Autonomous), Visakhapatnam, India. He received his Ph.D. in Mechanical Engg. from NT Delhi in 2004. His areas of interest are PKMs, design optimization, mechanisms, machine tools, robotics.
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Ganesh, S.S., Rao, A.B.K. Design optimization of a 2-DOF parallel kinematic machine based on natural frequency. J Mech Sci Technol 34, 835–841 (2020). https://doi.org/10.1007/s12206-020-0133-4
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DOI: https://doi.org/10.1007/s12206-020-0133-4