TY - JOUR
T1 - Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators
AU - Wang, Kun
AU - Wu, Xiaoyong
AU - Wang, Yujin
AU - Ding, Jun
AU - Bai, Shaoping
N1 - Funding Information:
The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work is financially supported by the Science and Technology Research Program of Chongqing Municipal Education Commission (KJCX2020044), the Chongqing Science and Technology Commission of China (cstc2020jcyjmsxmX0281, cstc2020jcyjmsxmX0242) and the Innovative Research Group of Chongqing Municipal Education Commission (CXQT19026).
Publisher Copyright:
© IMechE 2021.
PY - 2022/3
Y1 - 2022/3
N2 - 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.
AB - 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.
KW - 6-DOF parallel manipulator
KW - assembly mode
KW - kinematics
KW - singularity analysis
KW - spherical motion generator
KW - working mode
KW - workspace
UR - http://www.scopus.com/inward/record.url?scp=85122107537&partnerID=8YFLogxK
U2 - 10.1177/09544062211032998
DO - 10.1177/09544062211032998
M3 - Journal article
AN - SCOPUS:85122107537
SN - 0954-4062
VL - 236
SP - 2828
EP - 2846
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
IS - 6
ER -