Title: Orientation capability of PS-3-SPS-type parallel robot with application in segment erector

Authors: Yalei Guo; Jianyu Mao; Yiwei Zhou; Weizhong Guo

Addresses: Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China ' Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China ' Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China ' Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

Abstract: Orientation capability is investigated for a new design of PS-3-SPS parallel robot using for segment erector. Kinematics, reachable workspace, and orientation capability are modelled. Rotation angular range of moving platform with respect to different axes is analysed. Simulations show when the length of a sub-chain is shortened, the moving platform can reach more space but rotation capability becomes limited when lengths grow to a certain range, rotation capability increases sharply while reachable area greatly reduced. Case studies demonstrate the PS-3-SPS mechanism has great characteristics. Our research lays the foundation for motion planning and control of this mechanism.

Keywords: PS-3-SPS parallel robots; orientation capability; robot orientation; segment erector; robot kinematics; reachable workspace; modelling; simulation; rotation angular range; moving platforms; mechanisms; mechanism design; motion planning; motion control; parallel manipulators; robot control; robot motion.

DOI: 10.1504/IJMRS.2013.057190

International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.2/3, pp.240 - 260

Received: 11 Dec 2012
Accepted: 16 Jun 2013

Published online: 16 Oct 2013 *

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