Configuration design and analysis of a new 3-SPS/S spatial rotation parallel manipulator

摘要

Based on the analyses of the demand of segment assembly robot for shield machine,a 3-DOF rotation parallel manipulator with 3-SPS actuated legs and one passive leg was constructed by using systematic enumeration approach.The inverse displacement and velocity kinematics of the manipulator were derived and the corresponding Jacobian matrix were analyzed.Then the operation degree was used to research its kinematical performance.The results indicate that the proposed manipulator can meet the demand of segment assembly robot for shield machine with good maneuverability.