期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/62100
语种：English
出版社：SAGE Publications
摘要：This paper presents a novel three-degree-of-freedom (3-DOF) parallel manipulator and introduces its mechanical structure. Analytical solutions of the forward kinematics have been worked out, and all configurations of this robot are graphically displayed. On the basis of several special positions in the kinematics, a task workspace is prescribed to find the smallest feasible dimensional parameters of the robot. An algorithm describing this method is also introduced. This method can easily find appropriate parameters that can size a robot having the smallest workspace enclosing a predefined task workspace. This improves the design efficiency and ensures that the robot has a small mechanical size possessing a large workspace volume and, in terms of dimension design, meets the lightweight-design requirements. With examples illustrating the design results, we further introduce a design stability in dextoensure that the robot remains a safe distance from the boundary of its actual workspace. One prototype of the robot has already been developed.
