Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators

摘要

Various parallel kinematic manipulator (PKM) type design papers enumerate eligible links as the combination of revolute and prismatic joints and synthesize using local screw theory, but analysis and comparison on real capacity of different types has not been developed yet. This paper applies differential Lie group tools to developing a spectrum of so called regular link spatial translation (T(3)) PKM, which maximized workspace from a topological point of view.