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Complete kinematics of a serial–parallel manipulator formed by two Tricept parallel manipulators connected in serials

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Abstract

Complete kinematic is an essential and a challenging work for series–parallel manipulators (S–PMs). This paper studied the complete kinematic of a 2(3-SPS+UP) series–parallel manipulator. First, a S–PM formed by two well-known Tricept parallel manipulators (PMs) connected in serial is presented. Second, the forward and inverse displacements are studied using sylvester dialytic elimination method. Third, the forward and inverse Jacobian matrices are established based on integrating the constraint and coupling information of the single PMs into the S–PM. Fourth, simple and compact formulae for the forward and inverse acceleration are derived using vector approach. Finally, the workspace of this S–PM is constructed using CAD variation geometry approach. The results show that the 2(3-SPS+UP) S-PM has multiple forward and inverse position solutions. The existence and uniqueness of the forward, inverse Jacobian matrices and the acceleration formula are shown from their explicit form. The workspace analysis shows that this S–PM has large workspace. The research works provided a theoretical basis for the novel 2(3-SPS+UP) S–PM, as well as a feasible approach for establishing the complete kinematics for S–PMs.

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Acknowledgments

The authors are grateful to the project (No.51305382) supported by National Natural Science Foundation of China, Excellent Youth Foundation of Science and Technology of Higher Education of Hebei Province(YQ2013011) and the financial support of State Key Laboratory of Robotics and System (HIT) (SKLRS-2012-MS-01).

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Authors and Affiliations

  1. Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, 066004, Hebei, China

    Bo Hu

  2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, 066004, Hebei, China

    Bo Hu

  3. State Key Laboratory of Robotics and System (HIT), Harbin, China

    Bo Hu

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  1. Bo Hu
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Correspondence to Bo Hu.

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Hu, B. Complete kinematics of a serial–parallel manipulator formed by two Tricept parallel manipulators connected in serials. Nonlinear Dyn 78, 2685–2698 (2014). https://doi.org/10.1007/s11071-014-1618-4

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  • DOI: https://doi.org/10.1007/s11071-014-1618-4

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