Abstract
AbstractThe design of parallel mechanisms with multi-rotational degrees of freedom (DOFs), especially with large orientation workspace, is still a tough task. This paper presents the design process of new multi-DOF parallel mechanisms with large orientation workspace, which can be used in haptic application. First, based on the configurable design concept, two configurable platforms with two or three rotational DOFs are designed. By means of the designed platforms and Lie group theory, a series of parallel mechanisms with two rotational and three translational (2R3T) DOFs or three rotational and three translational (3R3T) DOFs are developed. According to the synthesized parallel mechanisms, a haptic device with reconfigurable ability is proposed. The analysis of rotational capability is carried out in terms of one of the synthesized parallel mechanisms. The results reveal that resorting to actuation redundancy, the studied PM achieves the design requirement of large orientation workspace.KeywordsParallel mechanismConfigurable platformRotational capability
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