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The International Journal of Robotics Research
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Type Synthesis of Three-Degree-of-Freedom Spherical Parallel Manipulators

Xianwen Kong

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4

Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4gosselin{at}gmc.ulaval.ca

A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegreeof-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel manipulators. In a non-overconstrained three-legged spherical parallel manipulator, each leg is composed of five revolute, prismatic and/or helical joints. Using the proposed approach, non-overconstrained three-legged spherical parallel manipulators can be obtained by the combination of a 3-RRR overconstrained spherical parallel manipulator and three four-bar Delassus linkages with at least one revolute joint. In a 3-RRR spherical parallel manipulator, each leg is composed of three revolute joints whose axes pass through the center of spherical motion. A four-bar Delassus linkage is a single-DoF four-bar linkage composed of four revolute, prismatic and/or helical joints. A number of new non-overconstrained spherical parallel manipulators are also identified, including one obtained by the combination of a 3-RRR spherical parallel manipulator and three Bennett linkages.

Key Words: spherical parallel manipulator • type synthesis • Bennett linkage • Delassus linkage • non-overconstrained

The International Journal of Robotics Research, Vol. 23, No. 3, 237-245 (2004)
DOI: 10.1177/0278364904041562
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[Abstract] [PDF]