A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms

作者：Isaksson Mats^*; Eriksson Anders; Watson Matthew; Brogardh Torgny; Nahavandi Saeid

来源：Mechanism and Machine Theory, 2015, 83: 1-13.

DOI：10.1016/j.mechmachtheory.2014.08.014

• Parallel manipulator
• Linkage substitution
• Reciprocal screws
• Planar manipulator
• Axis-symmetric
• Rotation-symmetric

This paper investigates axis-symmetric parallel manipulators, composed of a central base column and an arm system able to rotate around this column. The arm system includes several actuated upper arms, each connected to a manipulated platform by one or more lower arm linkages. Such manipulators feature an extensive positional workspace in relation to the manipulator footprint and equal manipulator properties in all radial half-planes defined by the common rotation-axis of the upper arms. The similarities between planar manipulators exclusively employing 2-degrees-of-freedom (2-DOF) lower arm linkages and lower mobility spatial manipulators only utilising 5-DOF lower arm linkages are analysed. The 2-DOF linkages are composed of a link with a 1-DOF hinge on both ends whilst the 5-DOF linkages utilise 3-DOF spherical joints and 2-DOF universal joints. By employing a proposed linkage substitution scheme, it is shown how a wide range of spatial axis-symmetric parallel manipulators can be derived from a limited range of planar manipulators of the same type.

• 出版日期2015-1
• 单位迪肯大学