Analyses of Inverse Kinematics, Statics and Workspace of a Novel 3RPS-3SPR Serial-Parallel Manipulator
Bo Hu*, 1, Yi Lu1, Jing Jing Yu2, Shan Zhuang1
Identifiers and Pagination:Year: 2012
Issue: Suppl 1-M5
First Page: 65
Last Page: 72
Publisher Id: TOMEJ-6-65
Article History:Received Date: 13/09/2011
Revision Received Date: 16/10/2011
Acceptance Date: 08/11/2011
Electronic publication date: 22/3/2012
Collection year: 2012
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
A novel 3RPS-3SPR serial-parallel manipulator (S-PM) with 6 degree of freedoms (DOFs) is proposed in this paper. It includes a lower 3RPS parallel manipulator (PM) and an upper 3SPR PM. Its inverse kinematics, active forces and workspace are solved. First, the inverse displacement is solved in close form based on the geometrical and the dimensional constraints of this S-PM. Second, the 9×9 and 6×6 form inverse Jacobian matrices are derived and the active forces are solved using principle of virtual work. Third, the workspace of this S-PM is constructed by using CAD variation geometry approach.