Abstract
The triple arm mechanism, which consists of a base link, a coupler link and three two-link-chains (arms) having the actuated prismatic joint, is a basic spatial parallel mechanism with three degrees of freedom. In this paper, a method of forward displacement analyses is proposed for such a general triple arm mechanism that three revolute pairs are attached to the base link at any attitude angle. Root diagrams of the spatial parallel mechanism of this type are drawn in order to show its motion behavior for one input displacement constantly increased and sensitivity curves of angular displacements of three arms with respect to the kinematic constant are calculated. The spatial parallel mechanism that the direction of the spherical joint socket is adjustable is designed in order to spread the domain of motion of the coupler link. Position errors of the spatial parallel mechanism under a load perpendicular to one of arms are measured. Such a new observation is shown that position errors increase radically for changing one of input displacements at the position apart from limit positions where the determinant of the Jacobian matrix is zero.
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