2A2-K04 Development of a spherical parallel mechanism with large orientation workspace around controllable target point(Parallel Robot/Mechanisms and its Control)

This paper proposes a rotational parallel mechanism, which can perform rotational output motion around two orthogonal axes and translational motion of the center of rotation of the output link called "target point". This mechanism is composed of three connecting chains; one target point control chain with actuators for changing the target point, and two rotational motion control chains having single actuator on each chain for generating rotational motion. Structures of these chains were clarified for achieving position-orientation decoupled feature. To enlarge the orientation workspace without singularity configurations, adjustment method of design parameters were figured out based on the equations determining the existence of solution, and the equation of transmission characteristics about input velocity and input torque.