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.
| Original language | English |
|---|---|
| Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
| Volume | 236 |
| Issue number | 6 |
| Pages (from-to) | 2828-2846 |
| Number of pages | 19 |
| ISSN | 0954-4062 |
| DOIs | |
| Publication status | Published - Mar 2022 |
Bibliographical note
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.
Keywords
- 6-DOF parallel manipulator
- assembly mode
- kinematics
- singularity analysis
- spherical motion generator
- working mode
- workspace