Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Kun Wang, Xiaoyong Wu*, Yujin Wang, Jun Ding, Shaoping Bai

*Kontaktforfatter

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

3 Citationer (Scopus)

Abstract

Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is solved and illustrated, covering its inverse and forward position analysis, workspace and singularities. The kinematic study reveals interesting features of this manipulator such as multiple working and assembly modes, small footprint and large workspace volume with high dexterity. Numerical examples of kinematic analysis are included. Practical application of the new manipulator is illustrated.

OriginalsprogEngelsk
TidsskriftProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Vol/bind236
Udgave nummer6
Sider (fra-til)2828-2846
Antal sider19
ISSN0954-4062
DOI
StatusUdgivet - mar. 2022

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© IMechE 2021.

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