Kinematic design and analysis of a 6-DOF spatial five-Bar linkage

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

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

14 Citations (Scopus)

Abstract

In this work, a novel 6-DOF parallel manipulator is proposed. The manipulator is designed in the form of a five-bar spatial linkage with spherical-universal-universal-universal-spherical architecture, where actuation comes from two spherical joints. Unlike conventional 6-DOF parallel manipulators with six kinematic subchains, this new design has only two subchains, which brings kinematic advantages such as large workspace and small footprint ratio. An analytical approach is presented to determine the inverse position of the linkage, based on which the sixteen working modes are analyzed. Closed-form equations are formulated for the forward position problem, upon which the corresponding sixteen assembly modes are investigated. With velocity equation established, several singular configurations are determined. Two practical applications of the proposed linkage are illustrated.

Original languageEnglish
Article number104227
JournalMechanism and Machine Theory
Volume158
ISSN0094-114X
DOIs
Publication statusPublished - Apr 2021

Bibliographical note

Publisher Copyright:
© 2020

Keywords

  • 6-DOF Mechanisms
  • Forward position problem
  • Inverse position problem
  • Singularity analysis
  • Spatial linkage
  • Spherical motion generators

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