Design and development of 3-rrs parallel platforms using simmechanics

• Main Author: Ibrahim, Mohd. Johari @ Esa
• Format: Thesis
• Language: English
• Published: 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/81593/1/MohdJohariEsaMFKE2015.pdf; http://eprints.utm.my/id/eprint/81593/; http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:119044

Parallel platform is highly used in the field of engineering for simulation of vehicle motion. Parallel platform normally used in aviation industry and recently in gamming sector. The system is able to actuate physical motions in giving the user to experience how the vehicle would respond. With input given, parallel platform encapsulates occupants and creates effect of being inside a moving vehicle and create real time environment. This project will study and use kinematic mathematical modeling to determine of the possible motion characteristic when the linear displacement of the platform is restricted. The Micro Servo Motor is used as parallel mechanism with a platform as its load. The 3-DOF parallel platforms composed of a moving rectangular platform that connected to a fixed base with the same shape by three (RRS) extendable legs. The extremities of each leg are fitted with a 1-DOF revolute joint (R) at the base connected to one revolute joint from servomotor and a 3-DOF spherical joint (S) at the platform legs are actuated using revolute joints (R). The three axes of the revolute joints at the base are arranged in 120 degrees and the axis of every one is parallel to the opposite segment of the triangular base. 3-RRS parallel manipulators allow the platform to rotate and translate. Validation will do in MATLAB/Simmechanics and experimental shows similar movement. The results show the position of platform when the signal is trigger to the legs joins.