Analysis and practical validation on a multi-linkage scissor platforms drive system for the satellite test facilities

This paper evaluates a modified structural analysis in measuring the reaction forces on the multi-linkage scissor mechanism driven by a ball-screw system. The proposed structural-virtual work (SV) analysis takes into account all reaction forces on the designed linkages to evaluate the accurate sizing of the actuator and as the consequence, the overall machinery development cost will be significantly reduced. The idea is proven in three ways: analytical analysis, simulation analysis, and experimental analysis based on the developed prototype. The simulation study has shown that the estimated torque is successfully reduced by 29% as compared to the conventional approach. The superiority of the proposed analysis is confirmed by 12% error between the simulation and results from the developed prototype. The successful method proposed in this paper can be further used for all multi-linkage systems in the heavy-vehicle industry that require accurate sizing of the actuators

Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly

A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The triple scissor extender (TSE) is a six-degree-of-freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed.A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies

The design and analysis of a novel 5 degree of freedom parallel kinematic manipulator.

Masters Degree. University of KwaZulu-Natal, Durban.Abstract available in PDF