Kazuya Okawa and Yoshihiro Okamura

Abstract:
This paper describes a proposal of link composition for a parallel mechanism with pin joints. The maximum angle of inclination by general parallel mechanism with ball joints is about 55 degrees because of the limitations in the angles of those joints. Therefore, a novel parallel mechanism that will replace ball joints by the pin joints with wide movable angle is proposed. Moreover, three kinds of link compositions: an outside type, an inside type and a combination type are proposed. The transmission index is investigated on these three types, and it has been understood that the combination type is able to move in the widest area. It was confirmed that the inclination angle of the end effector can go up to 90 degrees by simulations and experiments that proved effectiveness.

Keywords: parallel mechanism, singular configuration, transmission index, angle of inclination