A Novel Spherical Parallel Manipulator with Circular Guide

Abstract:

In this paper, a novel 3-degree-of-freedom (DOF) parallel manipulator that can perform three rotations around the remote centre is presented. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions. In particular, using circular guide to instead of R joints, so that has the advantage of enabling continuous 360° revolute around Z-axis. The inverse kinematics of mechanism is given and the workspace has a good performance. To compare with the machine constructed with traditional joints, it has the advantage of high rigidity and precision.

• Periodical: Applied Mechanics and Materials (Volumes 325-326)
• Pages: 1014-1018
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.325-326.1014
• Online since: June 2013
• Authors: Hai Rong Fang, Zhi Hong Chen, Yue Fa Fang
• Keywords: 3-DOF, Circular Guide, Parallel Manipulator, Pose Adjusting

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