Kinematic Analysis and Design of 3-RPSR Parallel Mechanism with Triple Revolute Joints on the Base
Yukio Takeda*, Xiao Xiao*, Kazuya Hirose**, Yoshiki Yoshida**,
and Ken Ichiryu**
*Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan
**Monozukuri Mechatro Research Laboratory, Kikuchi Seisakusho Co., Ltd., 2161-12 Miyama-cho, Hachioji-shi, Tokyo 192-0152, Japan
The present paper proposes a new six-DOF parallel mechanism with three connecting chains. This mechanism can have a large angle of orientation of the output link. Joints in each connecting chain are arranged from the base in order of revolute, prismatic, spherical and revolute joints. All three revolute joints on the base are coaxial. With this structure, the output link can perform a full rotation around the vertical axis. The orientation capability of this mechanism is demonstrated. Equations for displacement analysis and the Jacobian matrix are derived. A design and prototype of this mechanism for a pipe-bender are shown.
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