Research Papers

A 3DOF Rotational Parallel Manipulator Without Intersecting Axes

[+] Author and Article Information
Zhen Huang

Robotics Research Center, Yanshan University, Qinhuangdao, Hebei 066004, P.R. Chinahuangz@ysu.edu.cn

Ziming Chen

Robotics Research Center, Yanshan University, Qinhuangdao, Hebei 066004, P.R. Chinachenzm@ysu.edu.cn

Jingfang Liu

College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, P.R. Chinajfliu@bjut.edu.cn

Shichang Liu

Robotics Research Center, Yanshan University, Qinhuangdao, Hebei 066004, P.R. Chinaabvou@163.com

J. Mechanisms Robotics 3(2), 021014 (May 04, 2011) (8 pages) doi:10.1115/1.4003848 History: Received July 27, 2010; Revised February 27, 2011; Published May 04, 2011; Online May 04, 2011

It is difficult to manufacture parallel manipulators (PMs) with multiple revolute joint axes intersecting at one point. These types include the 3DOF spherical parallel manipulators (SPMs), the 4DOF 3R1T and 2R2T PMs, the 5DOF 3R2T PMs, etc. PMs with this problem are hard to achieve the expected mobility. In this paper, a 3-RPS cubic PM is studied, which has three rotational freedoms and is without those intersecting axes. The motion property of this PM will not change when the manufacturing errors exist. In order to show its orientation capability, the orientation workspace of this PM is analyzed. More discussions about the differences between the traditional SPMs and this PM are proposed. The results show that compared with the traditional SPMs, this 3-RPS cubic PM can also achieve three rotational motions with an enough orientation capability for applications and it has the advantage of easy fabrication.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 2

3-RRR SPM with manufacturing errors

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Figure 3

3-RPS cubic parallel manipulator

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Figure 4

Three constraint forces lie on a hyperboloid of one sheet

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Figure 5

3-RPS cubic PM at different configurations

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Figure 6

Different hyperboloids

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Figure 7

The coordinate systems of the 3-RPS cubic PM

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Figure 8

The modified Euler angles

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Figure 9

The orientation workspace of the 3-RPS cubic PM

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Figure 10

Numerical example with (φ,θ,ψ)=(20 deg,50 deg,0 deg)

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Figure 11

Numerical example with (φ,θ,ψ)=(0 deg,0 deg,−35 deg)




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