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Kinematics and Workspace Analyses of 3/3-RRRS Parallel Manipulator

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Abstract:

It is known that two primary disadvantages of parallel manipulators are the complicated forward kinematics and limited workspace. This paper mainly addressed the kinematics and workspace analyses of a 3/3-RRRS 6-DOF parallel manipulator. After a brief introduction of the 3/3 -RRRS 6-DOF parallel manipulator, a three-dimensional model and its relevant structure diagram are constituted, the forward and inverse displacement analyses of the 3/3-RRRS parallel manipulator are discussed in detail, especially, a novel geometrical method referred as equivalent mechanism is proposed for the forward displacement analysis of the manipulator under consideration. Based on the displacement analyses of the manipulator, a discretization method is proposed for the computation of the reachable position/orientation workspace of the 3/3-RRRS parallel manipulator, respectively. Examples of a 3/3-RRRS parallel manipulator are given to demonstrate these theoretical results.

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Periodical:

Applied Mechanics and Materials (Volumes 155-156)

Pages:

1090-1095

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.155-156.1090

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Online since:

February 2012

Authors:

Meng Si Liu, Yi Cao, Qiu Ju Zhang, Clément Gosselin, Jian Chun Sun, Bao Kun Li

Keywords:

Equivalent Mechanism, Kinematics Analysis, Workspace Analysis

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© 2012 Trans Tech Publications Ltd. All Rights Reserved

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References

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