Abstract
In terms of motion strategies, the parallel manipulator that generates three rotational and one translational (3R1T) degree-of-freedom (dof) has found task-oriented applications in some paradigms, e.g., the robotically-assisted laparoscopic surgery [1]. However, there are very few 3R1T in-parallel actuated mechanisms that have been identified and extensively studied. In this chapter, a general 4-dof, 3R1T parallel manipulator is extensively studied. The manipulator is structured with three SPS (spherical-prismatic-spherical joints) legs and one generally placed PS strut where a prismatic joint is attached to the fixed base. Accordingly, the translational part of the output motion is completely independent of the three rotational ones so that the rotational and translational motions are decoupled. We will present the general solutions of inverse and forward kinematics for the manipulator. We will further present the singularity analysis and workspace analysis of the manipulator and conclude this chapter with discussion on its potential applications for minimally invasive surgery.
| Original language | English |
|---|---|
| Title of host publication | Robotics: State of the Art and Future Trends |
| Publisher | Nova Science Publishers Inc |
| Pages | 29-54 |
| Number of pages | 26 |
| ISBN (Print) | 9781621004035 |
| Publication status | Published - Jan 2013 |