Analysis and development of a parallel 2 DOF manipulator
William Schroeder Cardozo1; Hans Ingo Weber1
1 PUC-Rio
doi:10.20906/CPS/COB-2015-1673
Resumo
A parallel two-degree-of freedom manipulator designed for a variable orientation of a body in space is presented. The manipulator consists of one universal joint with the input axis fixed to the base and the output axis fixed to a moving platform. One possible application of this kind of device is on spacecrafts to orientate the rocket nozzle. Two linear servo hydraulic actuators are used in parallel to move the platform. On each fork of the universal joint an angular position sensor is mounted to measure the relative motion of the cross, instead of measuring the actuators displacement. First the kinematics of the manipulator is analyzed and a geometric description is given. Second, using Newton-Euler formulation, a dynamic analysis is done and the forces and torques acting on moving platform are obtained. After that, numerical simulations are performed using servo actuators forces as inputs while other simulations are done imposing the trajectory.
Palavras-chave: Kinematics; Universal joint; Electrohydraulic servosystem; Servoactuator; Servovalve; Angular transducer