TYPE SYNTHESIS AND FORWARD DISPLACEMENT ANALYSIS OF PARALLEL MANIPULATOR WITH TWO EQUIVALENT COMPOSITE UNIVERSAL JOINTS

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.