Singularity Analysis of 3 DOF Parallel Manipulators for Angular Drilling in Medical Applications
Arockia Selva Kumar A
Dr. A. Arockia Selva Kumar, Senior Associate Professor, Design and Automation Research Group, Vellore Institute of Technology, Chennai (Tamil Nadu), India.
Manuscript received on 18 December 2019 | Revised Manuscript received on 24 December 2019 | Manuscript Published on 31 December 2019 | PP: 461-465 | Volume-9 Issue-1S3 December 2019 | Retrieval Number: A10201291S319/19©BEIESP | DOI: 10.35940/ijeat.A1020.1291S319
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Abstract: This paper focuses on two 3 – PRS (Prismatic – Revolute – Spherical) parallel manipulators (PMs) carried out by considering three type of singularities. For the study, pin joint forces and torques, linear displacement of nut and mobile platform (MP) tilt of TRIPOD and TRI-GLIDE PMs are taken as important parameters. The singularity positions of the parallel manipulators are simulated in ADAMS environment. The geometrical parameters of the parallel manipulators are considered in logical approach. Based on the results, the concluding remarks are summarized at the end to design the 3 – PRS parallel manipulators with better singular positions for angular drilling in medical applications.
Keywords: ADAMS, Parallel Manipulator, Singularity, TRIPOD, TRI-GLIDE.
Scope of the Article: Network Based Applications