MATHEMATICAL MODEL OF TWO-DOF FIVE LINKS CLOSED-CHAIN MECHANISM (PANTOGRAPH) | ||||
| International Journal of Advanced Engineering and Business Sciences | ||||
| Article 5, Volume 2, Issue 1 - Serial Number 2, April 2021, Page 60-74 PDF (551.01 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/ijaebs.2021.75247.1013 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
laylaa EL-Tehewy1; Mohamed Shamseldin  2; Mohamed Sallam3; Abdel Ghany Mohamed4
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| 1Mechatronics Engineering Department, Faculty of Engineering, MTI University, Cairo, Egypt | ||||
| 2Mechanical Engineering, Faculty of Engineering, Future University in Egypt | ||||
| 3Mechatronics Engineering Department, Faculty of Engineering, Egyptian-Chinese University (on leave from Helwan University). | ||||
| 4Higher Engineering Institute, Thebes Academy, Cairo, Egypt, (on leave from Helwan University) | ||||
| Abstract | ||||
| Parallel manipulators have been developed largely for applications that need high accuracy and speed, which make them useful in important fields. This paper presents a detailed mathematical model for a closed chain pantograph mechanism. This task was done by defining its differential equation of motion and implements it using the Matlab Simulink. The mathematical model describes the forward and inverse kinematics, in addition, the dynamic behavior. The mathematical model advantage is studying the parameters variation using different advanced control techniques. This model can be implemented using the Simscape model, which considers a black-box model. To validate the proposed mathematical model for the pantograph, the corresponding model mechanism using the Simscape had been implemented. A comparative study was executed between the mathematical model and the outputs of the Simscape. The results indicated a perfect match for output extracted from Simscape and Simulink. This is evidence for the validity of the inferred equations and Simulink model. | ||||
| Keywords | ||||
| Pantograph Modeling; Close Chain Mechanism; Simscape, Matlab Simulink | ||||
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