A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

doi:10.1007/s11465-015-0324-3

Front. Mech. Eng.

2015, Vol. 10

Issue (1) : 7-19 https://doi.org/10.1007/s11465-015-0324-3

RESEARCH ARTICLE

A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU^1,²,Liping WANG^1,^2,^*(

),Jun WU^1,²,Jinsong WANG^1,²

1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
2. Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Beijing 100084, China

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Abstract

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.

Keywords parallel mechanism concomitant motions kinematics workspaces error model

Corresponding Author(s): Liping WANG

Online First Date: 10 February 2015 Issue Date: 01 April 2015

Cite this article:

Yuzhe LIU,Liping WANG,Jun WU, et al. A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator[J]. Front. Mech. Eng., 2015, 10(1): 7-19.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-015-0324-3
https://academic.hep.com.cn/fme/EN/Y2015/V10/I1/7

Fig.1 The virtual prototype of a 3-P (Pa) S spatial parallel manipulator

Fig.2 Pa joint

Fig.3 Simplification of one limb

Fig.4 Kinematics model

Fig.5 T–T angle in 3-Dspace

Fig.6 T–T angle in the top view

Fig.7 The vector loop of each limb

Tab.1 Structure parameters of the spatial parallel manipulator

Tab.2 Ranges of the main motion parameters

Fig.8 Concomitant Motion of X direction

Fig.9 Concomitant Motion of Y direction

Fig.10 Workspace based on output

Tab.3 Ranges of the input parameters

Fig.11 Workspace based on input

Fig.12 Dexterity

Fig.13 Manipulability

Fig.14 Position error

Fig.15 Rotation error

Fig.16 Pose error

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