Comparison of 3-DOF Partially Decoupled Spherical Parallel Manipulators with Respect to Lateral Stabilities

  • Guanglei WuEmail author
  • Huiping Shen
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper deals with the lateral dynamic stabilities for a family of 3-DOF partially decoupled spherical parallel manipulators featuring infinite end-effector rotation. Considering the influence of the rotating speed of the input shaft of the U-joint mechanism, the linearized equation of motion for the lateral vibrations of the manipulators is developed to analyze the stability problem, resorting to the Floquet theory. An approach based on the utilization of the monodromy matrix approach and Floquet theory is applied to the parallel mechanism with a U joint working as transmitting mechanism. Critical rotating speeds of the driving shaft are identified for the structural design and operational speeds of the manipulators.


spherical parallel manipulator lateral stability monodromy matrix Floquet theory critical speed 


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The work is supported by the Natural Science Foundation of Liaoning Province (No. 20180520028), Doctoral Start-up Foundation of Liaoning Province (No. 20170520134) and Applied Basic Research Programs of Changzhou (No. CJ20180017).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringDalian University of TechnologyDalianChina
  2. 2.School of Mechanical EngineeringChangzhou UniversityChangzhouChina

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