Sintesis Mekanisme 3-URU Rotasi Murni dengan Aktuator Sebidang

Abstract

This study investigates the kinematic design of a parallel 3-URU pure rotation mechanism, with input joints arranged on a single plane to simplify the determination of the platform’s rotation center. The design process was structured into three stages: establishing kinematic constants based on stiffness criteria, selecting supplementary constants using transmission angle considerations, and conducting a comprehensive analysis of the mechanism. Numerical results indicate normalized constants of , , , and . The proposed mechanism achieves a maximum platform tilt of , with transmission angles ranging from to , and a minimum input torque transmissibility of 0.5. These findings demonstrate that the proposed kinematic design ensures adequate stability and transmission efficiency, making it suitable for applications requiring pure rotational motion.