Abstract

This study aims to verify the feasibility of a novel 3RRR vibration platform by kinematic simulation. The proposed platform can advance parts to a specified position and direction on the horizontal plane. Also, it can quickly advance distance. Firstly, the proposed platform is presented, and then kinematic dimensions are identified. Moreover, its inverse dynamics is analyzed to find the three inputs. Furthermore, dimensional synthesis is conducted. Finally, kinematic simulation is done by Working Model software. The simulation results show that the proposed design can successfully and efficiently advance parts to the specified position and direction.

Introduction to the 3RRR vibration platform

The vibration platform is designed using a 3RRR parallel mechanism, which can be quickly moved to the vicinity of the specified position over long distances according to the specified planar position. As shown in (Figure 1) is a feeding platform diagram, (Figure 1) the positive triangle represents a 3RRR mechanism conveyor platform, it is composed of 7 links and 7 joints, with three degrees of freedom and 3 loop plane mechanism. Specify a transport position coordinate, inverse kinematics calculate three motor rotation angles, input the motor rotation angle, and the item will be transported to the specified position.

Method

First, specify the location (P) and direction (𝛉) of the part to be transported. Then, the inverse motion analysis is carried out to find the input of the rotation angle of the three motors. Then, build a Working Model 3RRR platform model (Figure 2) for simulation. 

After the part reaches the desired conveying position (g1) with the platform from the initial position, then the platform will vibrate by a sine wave input, allowing the part to be advanced in the desired direction 𝒈 ⃑ .

Result

Table 1 is the comparison between expected and simulation results of the positional error, which is three decimal places, so the part can be transported to the desired position P. Figure 3, for the direction error of the simulation results, take the same angle close to the coordinates, so there will be directional error (Table2).

Conclusion

This study proposed a novel 3RRR vibration. The simulation results the proposed design can successfully and efficiently advance parts to the specified position and direction.