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Kinematic analysis of a 5-R SP parallel mechanism with centralized motion

  • Parallel Manipulators
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Abstract

The paper presents a kinematic analysis of a parallel mechanism, referred to here as a mechanism with centralized motion. The paper includes a proof, based on the geometry of the mechanism, that the platform exhibits centralized motion. An interesting feature of this parallel mechanism is that it is partially collapsible which may be beneficial in practical applications where storage space is limited. The platform is connected to a base, regarded as fixed in this paper, by five identical legs where each leg is a three-link chain connected by a revolute joint, a spherical joint, and a prismatic joint. The result is that the platform has a screw motion about an axis which is perpendicular to the base and passes through the centroids of the base and the platform, for all positions of the platform. The pitch of the instantaneous screw depends on the platform assembly configuration and is a function of the platform position and orientation. To complete the kinematic study, the paper includes closed-form solutions to the inverse and forward position and velocity problems. Finally, the paper includes several numerical examples to illustrate some of the key features of this novel parallel mechanism.

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Authors and Affiliations

  1. Department of Mechatronics and Automation, Tecnológico de Monterrey, Monterrey, 64849, Mexico

    Ernesto Rodriguez-Leal

  2. Department of Mechanical Engineering, King’s College London, University of London, Strand, London, WC2R 2LS, UK

    Jian S. Dai

  3. School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA

    Gordon R. Pennock

Authors
  1. Ernesto Rodriguez-Leal
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  2. Jian S. Dai
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  3. Gordon R. Pennock
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Corresponding author

Correspondence to Jian S. Dai.

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Rodriguez-Leal, E., Dai, J.S. & Pennock, G.R. Kinematic analysis of a 5-R SP parallel mechanism with centralized motion. Meccanica 46, 221–237 (2011). https://doi.org/10.1007/s11012-010-9412-y

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  • DOI: https://doi.org/10.1007/s11012-010-9412-y

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