Abstract
Orientation capability is investigated for a new design of PS-3-SPS parallel robot using for segment erector. Kinematics, reachable workspace, and orientation capability are modelled. Rotation angular range of moving platform with respect to different axes is analysed. Simulations show when the length of a sub-chain is shortened, the moving platform can reach more space but rotation capability becomes limited when lengths grow to a certain range, rotation capability increases sharply while reachable area greatly reduced. Case studies demonstrate the PS-3-SPS mechanism has great characteristics. Our research lays the foundation for motion planning and control of this mechanism.
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