Type Synthesis and Forward Displacement Analysis of Parallel Manipulator with Two Equivalent Composite Universal Joints
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China Parallel robot and mechatronic system laboratory of Hebei province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, Hebei 066004, China
ABSTRACT: The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry.