Multibody System Dynamics

, Volume 14, Issue 1, pp 47–60 | Cite as

Solution and Simulation of Position-Orientation for Multi-Spatial 3-RPS Parallel Mechanisms in Series Connection

  • Yi Lu
  • T. Leinonen


A novel spatial manipulator formed by multi-spatial 3-RPS parallel mechanisms in series connection is presented in this paper after synthesizing each advantage of both spatial series mechanism and parallel mechanisms. First, a solution of position-orientation for a spatial mechanism formed by two spatial 3-RPS parallel mechanisms in series connection is derived, a motion relationship between the driving rods and the end platform (output link) is determined. A simulation mechanism of this novel spatial manipulator is constituted in the Solidwork environment, and some computer simulation of the novel spatial manipulator are conducted and analyzed. Based on these results, a general solution of position-orientation of a spatial manipulator formed by multi-spatial 3-RPS parallel mechanism in series connection is derived. These outcomes provide a theoretical foundation for designing robot mechanisms.


parallel mechanism series mechanism solution simulation position-orientation 


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Copyright information

© Springer Science + Business Media, Inc. 2005

Authors and Affiliations

  • Yi Lu
    • 1
  • T. Leinonen
    • 2
  1. 1.College of Mechanical Eng.Yanhsan UniversityQinhuangdaoP.R. China
  2. 2.Dept. of Mechanical Eng.University of OuluFinland

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