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Solution of the Problem about Speeds and Special Positions of Spherical Parallel Manipulator

Tung Vo Dinh 1 and Sergey Kheylo 2
1. Institute of Engineering, Ho Chi Minh City University of Technology (HUTECH), Ho Chi Minh City, Vietnam
2. Department of Theoretical Mechanics, The Kosygin State University of Russia

Abstract— In recent years the number of studies of spherical parallel mechanisms has grown. Manipulators of a parallel structure are increasingly used in various fields of technology, since there is a need for mechanisms with increased performance in terms of load capacity and accuracy. These devices are used as propulsion, measuring, technological and testing systems. Spherical manipulators are used in devices for orienting antennas, telescopes, and in test benches.

The article considers the study of the kinematics problem for the spherical mechanism of parallel structure with three degrees of freedom, with three kinematic chains. A solution to the problem of speeds is presented and special positions of the mechanism are found by screw calculus. Examples of calculating the direct and inverse velocity problems are given.
 
Index Terms—parallel structure mechanism, speed problem, special positions, crew calculus

Cite: Tung Vo Dinh and Sergey Kheylo, "Solution of the Problem about Speeds and Special Positions of Spherical Parallel Manipulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 1, pp. 38-43, January 2021. DOI: 10.18178/ijmerr.10.1.38-43