Optimal Design of a 2-DOF Parallel Manipulator Considering Kinematics and Natural Frequency
Year: 2025
Type: article
Abstract: Objectives: A Two Degree of Freedom parallel manipulator is used in many industries due its high payload to weight ratio, high dynamic capabilities and structural rigidity. The natural frequency is determined based on stiffness dynamic model. Methods: The stiffness matrix and mass matrix was derived, and the structural dynamics is modeled. A MATLAB code has been developed to obtain stiffness modelling and dynamic modelling equations. Design and simulation of a two DOF parallel manipulator is done by using CATIA V5 R20 software. Modal analysis is performed in ANSYS 18.1 to find the natural frequencies and mode shapes. Convergence test is made to get accurate modal frequency results. Harmonic response analysis has been made for steady-state response of a model subjected to a load that changes harmonically. Findings: From results, it is observed that the natural frequency of the circular trajectory increases as the radius increases. Novelty/Improvement: A global frequency index is taken as objective for finding the optimal dimensions of the parallel manipulator considering circular trajectory of the end effector. Modal analysis and Harmonic analysis is done using ANSYS. Using Modal analysis mode shapes and natural frequency of the parallel manipulator is obtained. Harmonic analysis is carried out to find the frequency of the parallel manipulator at the maximum deformation. The machine should run at below this frequency to avoid the high vibrations due to resonance. Keywords: Parallel manipulator, Global frequency, Natural frequency, Modal analysis, Harmonic analysis
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W7118171672
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