Abstract
A spatial mechanism is frequently utilized in industrial applications such as parallel robot manipulators, machine positioning platforms, etc. The RSSR-SS Platform, with its 2-dof capacity, is a trailblazer in terms of parallel manipulator use. The present study focuses on developing control algorithms to increase performance by utilizing more structural system data. The Newton-Euler technique is used to construct the exact compact closed form of dynamic equations in the dimensionless form for the RSSR-SS manipulator. Rotary Spherical Spherical Rotary - Spherical Spherical (RSSR-SS) is a spatial mechanism with rigid body guidance and a passive degree of freedom. To analyze the dynamics of the RSSR-SS, an appropriate control system was developed using the Simulink and Sim Mechanics 2018b Simulink block technique. A Simulink model was created with the aid of the MATLAB 2018b translator. The simulation results illustrate the efficiency of the suggested approach, the dynamic equations of the RSSR-SS manipulator, and the influence of Leg/ Actuator inertia and its components on the dynamics of the entire system. Solidworks2021 was used to model the RSSR-SS. Finally, the article used to investigate dynamic issues with a certain RSSR-SS manipulator.
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