Synthesis and Analysis of Kinematics/Statics of a Novel 2SP̱S+SP̱R+SP Parallel Manipulator

Abstract

This paper proposes a systematic methodology for dimension synthesis, kinematics, and statics of a novel 2SP̱S+SP̱R+SP parallel manipulator with 3DOF. First, a workspace is varied and analyzed by varying the orientation of a revolute joint, and an optimum orientation of revolute joint is determined. Second, the inverse displacement is analyzed, and the formulas are derived for solving general inverse/forward velocities and accelerations. Third, the geometric constraints of constrained forces are determined and the formulas are derived for solving the active/constrained forces.