Abstract
This paper presents a 4-DOF (3T1R: three-translational and one rotational degrees of freedom) parallel mechanism with passive spherical joints, which has better stiffness than the other ones with just prismatic and revolute joints. Firstly, structure description is given. And a complete study regarding motion characteristics is done by analytical method. Then the kinematics of the 4-DOF parallel manipulator, which includes inverse and forward solutions, is studied in detail by numerical method. The Jacobian matrix of the parallel manipulator is also derived. Based on the Jacobian matrix, singularity analysis of the parallel mechanism has been described clearly. All prismatic actuators of the 4-DOF parallel manipulator are parallel to each other, enables it to have an independent Z motion—only limited by the stroke of the prismatic actuators. So the parallel manipulator has the identical performance along the direction of the actuated linear slides. The 4-DOF parallel manipulator is characterized by elevated dynamical capabilities having its actuators at base.
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