Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory1

Abstract

A spherical parallel manipulator (SPM) refers to a 3-DOF (degree-of-freedom) parallel manipulator generating 3-DOF spherical motion. A method is proposed for the type synthesis of SPMs based on screw theory. The wrench systems of a spherical parallel kinematic chain (SPKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of SPMs. The type synthesis of legs for SPKCs, the type synthesis of SPKCs, as well as the selection of inputs of SPMs are dealt with in sequence. An input validity condition of SPMs is proposed. SPKCs with and without inactive joints are synthesized. The number of overconstraints of each SPKC is also given. The phenomenon of dependent joint groups in an SPKC is revealed for the first time.