Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator

Bin Li, Yangmin Li, Xinhua Zhao

Research output: Journal article publicationJournal articleAcademic researchpeer-review

41 Citations (Scopus)


The architecture of the SPM is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and performance of the SPM are studied systematically. Firstly, the structure characteristics and DOF of this SPM are analyzed based on screw theory. Secondly, both of the inverse and forward displacements are derived by analytic formulae. Then, the Jacobian matrix of the mechanism is derived. Thirdly, the workspace of the mechanism is obtained based on the forward position analysis. Finally, the performance analysis of the mechanism is analyzed by pressure angles between limbs and some conclusions are given.
Original languageEnglish
Pages (from-to)222-233
Number of pages12
JournalMechanism and Machine Theory
Publication statusPublished - 1 Oct 2016
Externally publishedYes


  • Kinematic analysis
  • Spatial parallel manipulators
  • Workspace analysis

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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