Abstract
A novel spatial manipulator formed by multi-spatial 3-RPS parallel mechanisms in series connection is presented in this paper after synthesizing each advantage of both spatial series mechanism and parallel mechanisms. First, a solution of position-orientation for a spatial mechanism formed by two spatial 3-RPS parallel mechanisms in series connection is derived, a motion relationship between the driving rods and the end platform (output link) is determined. A simulation mechanism of this novel spatial manipulator is constituted in the Solidwork environment, and some computer simulation of the novel spatial manipulator are conducted and analyzed. Based on these results, a general solution of position-orientation of a spatial manipulator formed by multi-spatial 3-RPS parallel mechanism in series connection is derived. These outcomes provide a theoretical foundation for designing robot mechanisms.
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