A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms
Date
2015
Authors
Isaksson, M.
Eriksson, A.
Watson, M.
Brogårdh, T.
Nahavandi, S.
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Journal article
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Mechanism and Machine Theory, 2015; 83:1-13
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Mats Isaksson, Anders Eriksson, Matthew Watson, Torgny Brogårdh, Saeid Nahavandi
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Abstract
This paper investigates axis-symmetric parallelmanipulators, composed of a central base column and an arm system able to rotate around this column. The arm system includes several actuated upper arms, each connected to a manipulated platform by one or more lower arm linkages. Such manipulators feature an extensive positional workspace in relation to the manipulator footprint and equal manipulator properties in all radial half-planes defined by the common rotation-axis of the upper arms. The similarities between planar manipulators exclusively employing 2-degrees-of-freedom (2-DOF) lower arm linkages and lower mobility spatial manipulators only utilising 5-DOF lower arm linkages are analysed. The 2-DOF linkages are composed of a link with a 1-DOF hinge on both ends whilst the 5-DOF linkages utilise 3-DOF spherical joints and 2-DOF universal joints. By employing a proposed linkage substitution scheme, it is shown howawide range of spatial axis-symmetric parallelmanipulators can be derived from a limited range of planar manipulators of the same type.
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© 2014 Elsevier Ltd. All rights reserved.