Analysis and optimal design of a spherical parallel manipulator with three rotational degrees of freedom

Bing Li, Shucan Chen, Dan Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

Spherical parallel manipulators with three rotational degrees of freedom have been widely researched for a long time, and many mechanisms have been proposed and designed for some specific tasks. In this paper, the concept design of a spherical parallel manipulator with three rotational degrees of freedom is presented. The optimal design of this type of parallel mechanism with a 3SPU-1S kinematic chain is detailed which can act as a haptic device, and the purpose of the optimal design is to find a set of parameters that achieve a relatively good performance in terms of three important indexes, that is, to define the tradeoff among the workspace capabilities, dexterity and stiffness. First, the inverse kinematic equations and Jacobian matrix of the spherical parallel manipulator are formulated, which is the necessary for subsequent analysis. Then, three important performance is analyzed. Finally, the dimensional synthesis based on a compound performance index is introduced and simulation results are obtained.

Original languageEnglish
Title of host publicationRobotics in Smart Manufacturing - International Workshop, WRSM 2013 Co-located with FAIM 2013, Proceedings
PublisherSpringer Verlag
Pages71-81
Number of pages11
ISBN (Print)9783642392221
DOIs
Publication statusPublished - 2013
Externally publishedYes
EventInternational Workshop on Robotics in Smart Manufacturing, WRSM 2013 - Porto, Portugal
Duration: 26 Jun 201328 Jun 2013

Publication series

NameCommunications in Computer and Information Science
Volume371
ISSN (Print)1865-0929

Conference

ConferenceInternational Workshop on Robotics in Smart Manufacturing, WRSM 2013
Country/TerritoryPortugal
CityPorto
Period26/06/1328/06/13

Keywords

  • Optimal design
  • Performance indexes
  • Spherical parallel manipulator

ASJC Scopus subject areas

  • General Computer Science
  • General Mathematics

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