Abstract:
The unique design for a novel 6-SPS parallel 3-dimensional
platform manipulator with an orthogonal configuration is
investigated. The layout feature of the parallel manipulator is
described. Its force/motion transmission capability evaluation
criteria are presented. At the orthogonal configuration, the
criteria and the relationships between the criteria and the link
lengths are analyzed, which is important since it can provide
designer a piece of valuable information about how to choose the
linear actuators. From the analysis of the results it is shown
that the force/motion transmission capabilities of the parallel
manipulator are characterized by isotropy at the orthogonal
configuration. The manipulator is particularly suitable for
certain applications in 6-DOF micromanipulators and 6-axis
force/moment transducers.
Key words:
6-SPS parallel manipulator 3-dimensional platform manipulator
Isotropy
* This project is supported by National 863 Plan of China (No. 512-9804- 02) and 863 Opening Robot Laboratory Foundation of Shenyang
Institute Automation of Chinese Academy of Sciences. Received March 12, 2001; received in revised form November 12, 2001; accepted May 10, 2002
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