Kinematic analysis and design of a novel 3T1R 2-(PRR)2RH hybrid manipulator

Abstract A 4-DOF (degrees of freedom) parallel manipulator with three translations and one rotation (3T1R) is very useful in industry. Most of the 3T1R parallel manipulators have limited rotational capabilities that usually have a range less than 90°. A novel 3T1R 2-(PRR)2RH hybrid manipulator with full rotational capability is proposed in this paper. The fixed platform of the hybrid manipulator connects the moving platform by two identical actuated (PRR)2RH kinematic chains. The full rotational capability is achieved by using two coaxial helical (H) joints with equal but opposite pitch connected to the moving platform. Mobility analysis, inverse and forward kinematics, singularity analysis and workspace of this manipulator are presented. Based on a homogenized Jacobian matrix, condition number and global dexterity index are used to evaluate the kinematic performance of the 2-(PRR)2RH hybrid manipulator. The connection among the workspace volume, the global dexterity index and the layout angle of the manipulator are disclosed. The parameter-finiteness normalization method is then used to produce an optimal design of link parameters. The results provide theoretical foundations for application of this novel manipulator.

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