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A Three-DOF Rotational Parallel Manipulator Without Intersecting Axes

[+] Author Affiliations
Ziming Chen, Jingfang Liu, Zhen Huang

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2010-28422, pp. 1059-1067; 9 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


It is difficult to manufacture parallel manipulators(PMs) with multiple revolute joint axes intersecting at one point. These types include the 3-DOF spherical parallel manipulators (SPMs), the 4-DOF 3R1T and 2R2T PMs, the 5-DOF 3R2T PMs. This problem makes it hard to achieve the expected mobility of these PMs. In this paper, a 3-RPS cubic PM is studied which has three rotational freedoms and no intersecting axes. The orientation workspace of this PM is analyzed. Some discussions about the differences between the traditional SPMs and this PM are proposed. The results show that the 3-RPS cubic PM can achieve three rotational motions and has no intersecting axes.

Copyright © 2010 by ASME
Topics: Manipulators



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