Abstract
In the present paper, kinematic structures of spatial 6 degree-of-freedom (dof) parallel manipulators are obtained by a number synthesis of multi-loop linkages Which consist of pairs with l, 2 and/or 3 dof and have no moving closed-loops. About a simple and practical manipulator among the obtained ones, that is, about a parallel manipulator consisting of six arms, each of which has three revolute pairs and a spheric pair, analytical equations for inverse and direct kinematics are derived and singular positions where the manipulator gains an extra degree of freedom are discussed. Moreover, taking account of allowable pressure angles and maximum swing angles of spheric pairs, the relation between the working space and parameters of the manipulator is investigated, revealing that the manipulator can operate with larger vertical motions than the Stewart platform can.
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