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Mechanics Based Design of Structures and Machines
An International Journal
Volume 41, 2013 - Issue 4
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Original Articles

Kinematics of the 3RRRS+S Parallel Wrist: A Parallel Manipulator Free of Intersecting Revolute Axes#

J. Gallardo-Alvarado Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Celaya, Guanajuato, MéxicoCorrespondence[email protected]
,
M. A. García-Murillo Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Celaya, Guanajuato, México
&
L. Pérez-González Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Celaya, Guanajuato, México
Pages 452-467 | Received 04 Apr 2011, Accepted 21 Feb 2013, Published online: 16 Jul 2013
 
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Abstract

In this article, some relevant kinematic properties of a spherical parallel manipulator with orientational actuators and without intersecting revolute axes are investigated mainly by means of the theory of screws. The analyses considered in this contribution cover displacement analysis, velocity, and acceleration analyses as well as a brief explanation of the performance of the parallel wrist by studying its workspace, isotropy, and singular configurations. A case study is included in order to exemplify the application of the method.

ACKNOWLEDGMENT

This article has been supported by DGEST and Conacyt of México.

Notes

#Communicated by Q. J. Ge.

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