NOVEL 6-SPS PARALLEL 3-DIMENSIONAL PLATFORM MANIPULATOR AND ITS FORCE / MOTION TRANSMISSION ANALYSIS

摘要

The unique design for a novel 6-SPS parallel 3-dimensional platform manipulator with an orthogonal configuration is investigated. The layout feature of the parallel manipulator is described. Its force/motion transmission capability, evaluation criteria are presented. At the orthogonal configuration, the criteria and the relationships between the criteria and the link lengths are analyzed, which is important since it can provide designer a piece of valuable information about how to choose the linear actuators. From the analysis of the results it is shown that the force/motion transmission capabilities of the parallel manipulator are characterized by isotropy at the orthogonal configuration. The manipulator is particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers.