Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage
Апстракт
Developing a novel parallel mechanism design is a complex process, including multiple phases. Designing and analyzing the mechanism's physical prototype is one of the most important phases. The proposed mechanism is novel, with parallel kinematics with actuated translation joins. The considered mechanisms platform has three degrees of freedom (DOF) achieved with three independent kinematic chains representing the connection between the stationary base and the moving platform. The proposed mechanism has numerous connected linkages because of the parallel kinematic construction. The weakest parameter of the mechanisms with parallel kinematics compared to mechanisms with serial kinematics is the shape and size of the workspace. Because of this, the workspace is one of the main parameters in designing a mechanism with parallel kinematics. To achieve the optimal workspace, it is necessary to use the proper joints in the mechanism construction. The mechanism analysis and proper joint selecti...on can be achieved in two ways. The first way is to build the virtual model and experiment on it, and the second is to build the physical prototype. The best way to select the proper joints for the mechanism construction is to compare the analysis results of virtual and physical mechanisms. If the results of comparing virtual and physical prototypes are the same, the physical prototype verifies the mechanism design.
Кључне речи:
Parallel mechanism / Chebyshev's linkage / Physical prototype / Workspace / VerificationИзвор:
39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, 2023, 246-251Издавач:
- UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
Напомена:
- Technical treatment and design: Milana ILIĆ MIĆUNOVIĆ, Miloš RANISAVLJEV, Branko ŠTRBAC, Miodrag HADŽISTEVIĆ
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Nešovanović, Ljubomir AU - Živanović, Saša PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/7131 AB - Developing a novel parallel mechanism design is a complex process, including multiple phases. Designing and analyzing the mechanism's physical prototype is one of the most important phases. The proposed mechanism is novel, with parallel kinematics with actuated translation joins. The considered mechanisms platform has three degrees of freedom (DOF) achieved with three independent kinematic chains representing the connection between the stationary base and the moving platform. The proposed mechanism has numerous connected linkages because of the parallel kinematic construction. The weakest parameter of the mechanisms with parallel kinematics compared to mechanisms with serial kinematics is the shape and size of the workspace. Because of this, the workspace is one of the main parameters in designing a mechanism with parallel kinematics. To achieve the optimal workspace, it is necessary to use the proper joints in the mechanism construction. The mechanism analysis and proper joint selection can be achieved in two ways. The first way is to build the virtual model and experiment on it, and the second is to build the physical prototype. The best way to select the proper joints for the mechanism construction is to compare the analysis results of virtual and physical mechanisms. If the results of comparing virtual and physical prototypes are the same, the physical prototype verifies the mechanism design. PB - UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES C3 - 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023 T1 - Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage EP - 251 SP - 246 UR - https://hdl.handle.net/21.15107/rcub_machinery_7131 ER -
@conference{ author = "Nešovanović, Ljubomir and Živanović, Saša", year = "2023", abstract = "Developing a novel parallel mechanism design is a complex process, including multiple phases. Designing and analyzing the mechanism's physical prototype is one of the most important phases. The proposed mechanism is novel, with parallel kinematics with actuated translation joins. The considered mechanisms platform has three degrees of freedom (DOF) achieved with three independent kinematic chains representing the connection between the stationary base and the moving platform. The proposed mechanism has numerous connected linkages because of the parallel kinematic construction. The weakest parameter of the mechanisms with parallel kinematics compared to mechanisms with serial kinematics is the shape and size of the workspace. Because of this, the workspace is one of the main parameters in designing a mechanism with parallel kinematics. To achieve the optimal workspace, it is necessary to use the proper joints in the mechanism construction. The mechanism analysis and proper joint selection can be achieved in two ways. The first way is to build the virtual model and experiment on it, and the second is to build the physical prototype. The best way to select the proper joints for the mechanism construction is to compare the analysis results of virtual and physical mechanisms. If the results of comparing virtual and physical prototypes are the same, the physical prototype verifies the mechanism design.", publisher = "UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES", journal = "39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023", title = "Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage", pages = "251-246", url = "https://hdl.handle.net/21.15107/rcub_machinery_7131" }
Nešovanović, L.,& Živanović, S.. (2023). Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023 UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES., 246-251. https://hdl.handle.net/21.15107/rcub_machinery_7131
Nešovanović L, Živanović S. Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023. 2023;:246-251. https://hdl.handle.net/21.15107/rcub_machinery_7131 .
Nešovanović, Ljubomir, Živanović, Saša, "Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage" in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023 (2023):246-251, https://hdl.handle.net/21.15107/rcub_machinery_7131 .