223 APPENDIX 1 224 225 226 APPENDIX 2 C PROGRAM FOR TRIPOD AND TRI-GLIDE PMs PROGRAM OUTPUT 227 JAVA PROGRAM FOR 3-PRS PMs PROGRAM OUTPUT 228 APPENDIX 3 WORK VOLUME CALCULATION USING MATLAB MAT LAB OUTPUT 229 APPENDIX 4 ANSYS Results of Tripod, Tri-Glide and 3-PRR PMs Tripod displacement – 18mm diameter Tripod axial stress – 18mm diameter 230 Tripod bending stress – 18mm diameter Tripod displacement – 16mm diameter 231 Tripod axial stress – 16mm diameter Tripod bending stress – 16mm diameter 232 Tripod displacement – 14mm diameter Tripod displacement – 12mm diameter 233 Tripod displacement – 10mm diameter Tripod axial stress – 10mm diameter 234 Tripod bending stress – 10mm diameter Tripod displacement – ID 18 mm OD 21 mm 235 Tripod axial stress – ID 18 mm OD 21 mm Tripod bending stress – ID 18 mm OD 21 mm 236 Tripod displacement – ID 18 mm OD 22 mm Tripod displacement – ID 18 mm OD 23 mm 237 Tripod displacement – ID 18 mm OD 24 mm Tripod displacement – ID 18 mm OD 25 mm 238 Tripod axial stress – ID 18 mm OD 25 mm Tripod bending stress – ID 18 mm OD 25 mm 239 Tripod displacement – OD 18 mm ID 15 mm Tripod axial stress – OD 18 mm ID 15 mm 240 Tripod bending stress – OD 18 mm ID 15 mm Tripod displacement – OD 18 mm ID 14 mm 241 Tripod displacement – OD 18 mm ID 13 mm Tripod displacement – OD 18 mm ID 12 mm 242 Tripod displacement – OD 18 mm ID 11 mm Tripod axial stress – OD 18 mm ID 11 mm 243 Tripod bending stress – OD 18 mm ID 11 mm Tri-Glide displacement –18 mm diameter 244 Tri-Glide axial stress –18 mm diameter Tri-Glide bending stress –18 mm diameter 245 Tri-Glide displacement –16 mm diameter Tri-Glide displacement –14 mm diameter 246 Tri-Glide displacement –12 mm diameter Tri-Glide displacement –10 mm diameter 247 Tri-Glide axial stress –10 mm diameter Tri-Glide bending stress –10 mm diameter 248 Tri-Glide displacement –ID 18 mm OD 21 mm diameter Tri-Glide axial stress –ID 18 mm OD 21 mm diameter 249 Tri-Glide bending stress –ID 18 mm OD 21 mm diameter Tri-Glide displacement –ID 18 mm OD 22 mm diameter 250 Tri-Glide displacement –ID 18 mm OD 25 mm diameter Tri-Glide axial stress –ID 18 mm OD 25 mm diameter 251 Tri-Glide bending stress –ID 18 mm OD 25 mm diameter Tri-Glide displacement –ID 15 mm OD 18 mm diameter 252 Tri-Glide axial stress – ID 15 mm OD 18 mm diameter Tri-Glide bending stress – ID 15 mm OD 18 mm diameter 253 Tri-Glide displacement –ID 14 mm OD 18 mm diameter Tri-Glide axial stress –ID 13 mm OD 18 mm diameter 254 Tri-Glide bending stress – ID 12 mm OD 18 mm diameter Tri-Glide bending stress – ID 11 mm OD 18 mm diameter 255 Tripod displacement –18 mm diameter (Aluminium) Tripod axial stress –16 mm diameter (Aluminium) 256 Tripod bending stress –14 mm diameter (Aluminium) Tripod displacement –10 mm diameter (Aluminium) 257 Tri-Glide displacement –18 mm diameter (Aluminium) Tri-Glide axial stress –14 mm diameter (Aluminium) 258 Tri-Glide bending stress –12 mm diameter (Aluminium) Tri-Glide displacement –10 mm diameter (Aluminium) 259 3-PRR displacement –18 mm diameter 3-PRR displacement –18 mm diameter (Aluminium) 260 3-PRR displacement –14 mm diameter (Aluminium) 3-PRR axial stress –10mm diameter (Aluminium) 261 3-PRR axial stress –12mm diameter 3-PRR Bending stress –14mm diameter 262 3-PRR displacement –16mm diameter 3-PRR axial stress –OD 18 mm ID 10 mm 263 3-PRR displacement –OD 18 mm ID 12 mm 3-PRR Bending Stress –OD 18 mm ID 15 mm 264 3-PRR Displacement –ID 18 mm OD 21 mm 3-PRR bending stress –ID 18 mm OD 22 mm 265 3-PRR axial stress –ID 18 mm OD 24 mm 3-PRR displacement –ID 18 mm OD 25 mm 266 3-PRR bending stress –ID 18 mm OD 25 mm Tripod PM – Moment values for solid shaft 10 to 16 mm 10 NODE MX MY MZ 34 -0.53262E-09 -3543.7 -0.24958E-09 12 45 106.11 -2471.2 664.55 56 -106.11 -2471.2 -664.55 NODE MX MY MZ 34 -0.33920E-09 -3612.4 -0.15769E-09 14 45 104.13 -2428.5 650.02 56 -104.13 -2428.5 -650.02 NODE MX MY MZ 34 -0.16873E-09 -3692.1 -0.91381E-10 16 45 101.45 -2369.8 630.29 56 -101.45 -2369.8 -630.29 NODE MX MY MZ 34 -0.11442E-09 -3760.7 -0.59183E-10 45 98.869 -2301.7 607.35 56 -98.869 -2301.7 -607.35 267 Tri-Glide PM – Moment values for hollow shaft 18 mm ID- 21 mm OD, 18 mm ID – 22 mm OD 18-21 NODE MX MY MZ 25 -0.70842E-01 594.81 18-22 0.56388E-02 34 -0.63757 -3088.9 0.18351E-01 36 -217.69 -57.671 -54.401 45 -158.00 -1559.0 128.96 47 208.33 -80.590 54.491 56 146.48 -1571.9 -125.73 NODE MX MY MZ 25 -0.87050E-01 601.77 0.42977E-02 34 -0.78345 -3119.6 0.33158E-01 36 -215.73 -53.364 -54.005 45 -134.72 -1523.5 131.53 47 206.76 -75.937 54.098 56 124.17 -1535.6 -128.29 3-PRR PM – Moment and reaction values for hollow shaft 18 mm OD11 mm ID, 18 mm OD – 12 mm ID and 18 mm OD – 13 mm ID 18/11 18/12 18/13 NODE FX FY FZ MX MY MZ 30 -60.605 5.8464 84.218 -545.01 -3448.8 -187.94 41 -24.408 1.9262 -4.3867 -332.27 -2473.7 65.822 52 -21.586 -7.7726 26.769 -164.86 -2208.9 -720.12 NODE FX FY FZ MX MY MZ 30 -60.356 5.7240 84.157 -537.93 -3442.4 -183.75 41 -24.533 1.9416 -4.2778 -328.53 -2490.0 67.247 52 -21.711 -7.6656 26.721 -168.08 -2225.8 -723.63 NODE FX FY FZ MX MY MZ 30 -60.032 5.5642 84.078 -528.67 -3434.6 -178.24 41 -24.695 1.9615 -4.1307 -323.27 -2511.4 69.086 52 -21.873 -7.5258 26.652 -171.81 -2248.1 -728.21 268 APPENDIX 5 ARM7 LPC2148 EVALUATION BOARD 269 Controller kit Stepper motor Specification: Type : DC, Voltage: 6V, Phase current: 3.1A/Phase, Torque: 5 Kg.cm Step angle: 1.8° Controller Specification: LPC2148 microcontroller is based on a 16-bit/32-bit ARM7TDMI-S CPU 270 APPENDIX 6 ENGINEERING DRAWINGS TRIPOD PARALLEL MANIPULATOR 271 272 TRI-GLIDE PARALLEL MANIPULATOR 273 EXPERIMENTAL PROTOTYPE 274 3-PRR PARALLEL MANIPULATOR 275 3-PRR PARALLEL MANIPULATOR 276 INVERTED TRIPOD PARALLEL MANIPULATOR 277 278
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