Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-25T02:11:26.754Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and analysis of a totally decoupled 3-DOF spherical parallel manipulator

Published online by Cambridge University Press:  19 November 2010

Dan Zhang  and
Fan Zhang
Dan Zhang*
Affiliation:
University of Ontario Institute of Technology, Oshawa, Ontario L1H 7K4, Canada Qingdao Technological University, Qingdao 266033, China
Fan Zhang
Affiliation:
Department of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we propose a unique, decoupled 3 degree-of-freedom (DOF) parallel wrist. The condition required for synthesizing a fully isotropic parallel mechanism is obtained on the basis of the physical meaning of the row vector in the Jacobian matrix. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced. The proposed manipulator is capable of decoupled rotational motions around the x, y, and z axes and contains an output angle that is equal to the input angle. As this device is analyzed with the Jacobian matrix, the mechanism is free of singularity within its workspace and maintains homogenous stiffness over the entire workspace.

Keywords

Parallel manipulatorsDesignAutomationControl of robotic systemsMechatronic systems
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1093 - 1100
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Gosselin, C. and Angeles, J., “The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator,” ASME J. Mech. Transm. Autom. Des. 111 (2), 202–207 (1989).CrossRefGoogle Scholar
2.Wu, W. and Deng, X., “Study of a new pitch-yaw-roll joint mechanism,” Chin. High Technol. Lett. 5 (5), 36–39 (1995).Google Scholar
3.Li, T. and Payandeh, S., “Design of spherical parallel mechanisms for application to laparoscopic surgery,” Robotica 20, 133–138 (2002).CrossRefGoogle Scholar
4.Di Gregorio, R., “A new family of spherical parallel manipulators,” Robotica 20, 353–358 (2002).CrossRefGoogle Scholar
5.Chablat, D. and Angeles, J., “The computation of all 4R serial spherical wrists with an isotropic architecture,” J. Mech. Des. 125, 275–280 (2003).CrossRefGoogle Scholar
6.Mohamed, M. G. and Duffy, J., “A direct determination of the instantaneous kinematics of fully parallel robot manipulators,” ASME J. Mech. Trans. Auto. Des. 107, 226–229 (1985).CrossRefGoogle Scholar
7.Huang, Z., Spatial Mechanism (Mechanical Industry Press, China, 1991).Google Scholar
8.Joshi, S. A. and Tsai, L.-W., “Jacobian analysis of limited-DOF parallel manipulators,” Trans. ASME 124, 254–258 (2002).CrossRefGoogle Scholar
9.Li, W., Gao, F. and Zhang, J., “R-CUBE, A decoupled parallel manipulator only with revolute joints,” Mech. Mach. Theory 40, 467–473 (2005).CrossRefGoogle Scholar
10.Gosselin, C. M., “Stiffness mapping for parallel manipulators,” IEEE Trans. Robot. Autom. 6 (3), 377–382 (1990).CrossRefGoogle Scholar