Description

Problem 1
Figure 1 depicts the 3RRR Planar Parallel Manipulator at its initial position – in this problem we will perform the inverse (reverse) displacement analysis of this robot.
 The base joints lie on a circle of radius 300 (@angles of 900, 2100 and 3300) and are the vertices of an equilateral triangle.
 The platform forms another equilateral triangle with vertices at (136.6025,115.0000), (-36.6025,115.0000), (50.0000, 35.0000) as shown in the figure above.
 A moving reference frame is assumed to be attached at the centroid of the platform (50, 65) with the moving X axis at 600 w.r.t the horizontal.
 Each of the three legs is assumed to be symmetric with a proximal link length of 300 and a distal link length of 250.
 In case some of these dimensions/initial conditions prove inadequate – please make some assumptions, document them as such and proceed to develop the results
For this manipulator:
(i) Develop a CoppeliaSim Model using CoppeliaSim (or alternately import a SolidWorks assembly for the same. )
(ii) Test this for an end effector trajectory traverse from ( XEE ,YEE ,ϕEE ) = (50, 65, -60) to (0, 65, -60).
(iii) Plot the various joint angles, joint velocities and joint accelerations for the centroid of moving platform (endeffector) XEE and YEE to trace a circle of a radius 50 centered around (0,0) and ϕEE = 0
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