Interference analysis and workspace optimization of 3-RRR spherical parallel mechanism

摘要

The causes of restriction on the working scope of spherical parallel mechanism (SPM) were analyzed. A systematic design methodology (Least Interference Design Methodology, LIDeM) for reducing interference among links and increasing workspace of mechanism was also developed in this study. Focusing on 3-RRR SPM, the optimal structure was given according to the LIDeM theory. The optimum values of the modified link ratio β_1 and β_2 were obtained through numerical simulation of its mathematical model. In addition, the total workspace mapping, singularity loci and interference regions of the optimum 3-RRR SPM were also attained in this study by computational simulation. This work improves the total workspace of 3-RRR SPM and could be applied on some other revolute-joint mechanisms.