Authors: TzehWei Lau; Yuru Zhang
Addresses: Beijing University of Aeronautics and Astronautics, Beijing 100191, China ' Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
Abstract: In this paper, we present a new design of 6-RSS parallel manipulator with large rotation workspace. The RSS chains of manipulator are divided into two groups and the length of the chains between two groups are different. By locating them at two different circles on the moving platform and the base platform respectively, the interference between the links is reduced substantially. Therefore, a large rotation workspace can be achieved. In addition, our new design can be presented as two different structures. The inverse kinematics and the workspaces of the two structures are provided. At the end of the paper, we compare the two structures with the consideration of kinematic constraints, including mechanical limits on passive joints and interference of links.
Keywords: 6-RSS parallel manipulators; parallel robots; mechanisms; inverse kinematics; workspace analysis; large rotation workspace; passive joints; link interference; robot kinematics.
International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.2/3, pp.221 - 239
Received: 12 Dec 2012
Accepted: 11 Jun 2013
Published online: 16 Oct 2013 *