Modelling and Analysis of 3-PSS Parallel Kinematic Mechanism

Parallel Kinematic Mechanism’s (PKM) are being used for machining complex and intricate shapes for précised applications with higher stiffness and rigidity. It is possible to achieve different geometries with variable poses of the tool. PKMs are also being used for various operations such as inspection, surgical, assembly, etc. This paper focuses on modelling and analysis of a novel three legged PSS PKM for precise applications. The available automated systems are expensive and bulky making it less suitable for small/medium-scale industries. The focus of this paper is to develop a simple and cost-effective 3-PSS PKM. Kinematic modelling is done using the geometrical approach. The workspace for this PKM is plotted using MATLAB and compared with the existing mechanisms. The optimum workspace is determined using Genetic Algorithm (GA). Further, the static structural analysis is done using ANSYS for the determination of maximum stresses and deformation induced in the robot on the application of static load. The dynamic analysis is carried out using the MSC ADAMS software. The dynamic torques, acceleration and forces acting at each joint are determined instantaneously by considering velocity variations across sliders and friction at all joints.