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Frontiers of Mechanical Engineering >> 2015, Volume 10, Issue 1 doi: 10.1007/s11465-015-0324-3

A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China.

2. Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Beijing 100084, China

Accepted: 2015-02-10 Available online: 2015-04-01

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In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.

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