SINTESIS DIMENSI DAN ANALISIS KINEMATIK MEKANISME PARALEL PLANAR 3-DOF DENGAN KONFIGURASI RANTAI KINEMATIK 3-RRR

BOX, HARIANTO (2014) SINTESIS DIMENSI DAN ANALISIS KINEMATIK MEKANISME PARALEL PLANAR 3-DOF DENGAN KONFIGURASI RANTAI KINEMATIK 3-RRR. Diploma thesis, ANIVERSITAS ANDALAS.

Text (Tugas Akhir) 201511041318th_box harianto 1110911007 tugas akhir.pdf - Published Version Restricted to Repository staff only Download (982kB)

Abstract

Planar parallel mechanism of three degrees of freedom is a mechanism that can move on the field in the form of two translational motions and one rotational motion. This mechanism is widely applied in various fields, such as industrial manufacturing, medical devices and military equipment. Planar parallel mechanism is used because it has a high stiffness relative to the weight of moving parts. But, to get the mechanism of parallel planar, there are many things that must be considered related to workingspace limitations, appearance of singularity, and complexity of its mechanical structure. In this research, synthesis of dimension and analysis of kinematic mechanism planar 3-RRR parallel are done with considering workingspace, dexterity, singularity and interference of mechanical components. Dimensional synthesis and kinematic analysis of the mechanism are performed by analyzing the position to the platform center in order to obtain a range of work that can be done by platform on x-axis and y-axis. Furthermore the singularity and dexterity analysis are done on workingspace area. From dimensional analysis and kinematic analysis done, a constant kinematic having percentage workingspace region without the widest singularity to the total workingspace area is chosen, furthermore analysis dexterity will be done. Based on kinematic analysis and dimensional synthesis, optimal configuration of kinematic constants such 1 b s , 2 b s and P b r s representing the length of rod 1, the length of rod 2, and the normalized radius platform for mounting distance of kinematic chains at the base, sb, are obtained. The configurations are 1 b s = 0.3 units, 2 sb  0.3 units, rP sb  0.2 units and b  s 1.0 units. This configuration have the percentage of workingspace area without singularity 98.49 % of the total area workingspace and able to perform effective dexterity of 20o, 30o, 40o, 50o, 60o, up to 70o to the percentage of workingspace area that is able performing dexterity in sequence, 61.68 %, 56.89 % , 34.04 %, 30.48 %, 2.37 % and 0 % of the total workingspace. Keywords: 3-RRR mechanism, revolut, workingspace, singularity, dexterity

Actions (login required)

View Item