Abstract
This paper presents a novel 4 degree-of-freedom Schonflies-motion parallel manipulator, which is an upgraded design of a 3 degree-of-freedom planar parallel manipulator. The manipulator consists of three identical \({{\mathcal {RRP}}}_{a}{{\mathcal {R}}}\) (\({\mathcal {R}}\): a revolute joint, \({{\mathcal {P}}}_{a}\): a planar parallelogram) and one \({\mathcal {RRRRR}}\) subchain. The three actuated joints, the first revolute joints, of \({{\mathcal {RRP}}}_{a}{{\mathcal {R}}}\) subchains are designed to have a common rotation axis, and the actuated joint (the second \({\mathcal {R}}\) joint) axis of the \({\mathcal {RRRRR}}\) subchain is perpendicular to the common rotation axis. This architecture contributes large rotationally-symmetric workspace and unlimited rotational capability of the end-effector. The fundamental demerit of typical parallel manipulators, limited workspace, is completely removed. In this paper, the loop-closure equations are derived. The inverse and forward kinematics and singularity analysis are discussed. An algebraic derivation of the dextrous workspace is presented.
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