Configuration Analysis and Design of a Multidimensional Tele-operator Based on a 3-P(4S) Parallel Mechanism

  • Xiao Xiao
  • Yangmin Li
  • Xiaoming Wang


Based on configuration analysis, different types of 3-P(4S) parallel mechanisms are designed and introduced in this paper. Application issues of parallel mechanisms are discussed and a double 3-P(4S) mechanism-based tele-operator is illustrated. Inverse and forward kinematics of the single 3-P(4S) parallel mechanism are derived and solved via MATLAB software; based on it, the workspace of the 3-P(4S) parallel mechanism is investigated. The relationship between the distribution angle of kinematic chain and volume of the workspace is derived, and the shapes of the workspace of single and double 3-P(4S) parallel mechanisms are plotted. A prototype is developed and an interactive simulation system is established based on SolidWorks and LabVIEW software. Testing results indicate that the proposed tele-operator can well perform tele-operation tasks. This research work lays a good basis for performances evaluation and parameter optimization of 3-P(4S) mechanisms. Besides, it provides new ideas for the applications of parallel mechanisms.


Parallel mechanism Configuration analysis Tele-operator Interactive control 


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This work was supported in part by the National Natural Science Foundation of China (51575544, 51275353), Macao Science and Technology Development Fund (108/2012/A3, 110/2013/A3), and Research Committee of University of Macau (MYRG2015-00194-FST), Research Committee of The Hong Kong Polytechnic University (1-ZE97).


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© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  1. 1.Department of Electromechanical Engineering, Faculty of Science and TechnologyUniversity of MacauMacauChina
  2. 2.Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong KongChina

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