New design of 6-RSS parallel manipulator with large rotation workspace Online publication date: Sat, 12-Jul-2014
by TzehWei Lau; Yuru Zhang
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 1, No. 2/3, 2013
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.
Online publication date: Sat, 12-Jul-2014
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