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IJMERR 2023 Vol.12(6): 401-409
DOI: 10.18178/ijmerr.12.6.401-409

A Spatial Parallel Kinematic Manipulator with Nested Kinematic Chains and High Rotational Range

Wesley Emile Dharmalingum * and Jared Padayachee
Discipline of Mechanical Engineering, University of KwaZulu-Natal, Durban, South Africa
*Correspondence: dharmalingumw@ukzn.ac.za (W.E.D.)

Manuscript received March 17, 2023; revised April 30, 2023; accepted May 30, 2023.

Abstract—The paper presents the design and development of a novel five Degree of Freedom (DOF) Parallel Kinematic Manipulator (PKM) which possesses 3 pairs of coplanar limbs with nested kinematic chains. The design employs actuated prismatic joints and passive revolute joints. Universal joints were decoupled into individual revolute joints to achieve a high rotational range of the end effector about two axes. A pair of coplanar limbs exhibited either a Parallelogram (Pa) or an Irregular Quadrilateral (IQ) structure which was dependent on the orientation of the end effector. The PKM, named the 2-R (Pa-IQ) RR, R(Pa-IQ) R manipulator, possesses three translational DOFs, two rotational DOFs and a parasitic rotational DOF. The inverse kinematic analysis was solved by applying the vector method twice. SolidWorks® and MATLAB® simulations were used to validate the inverse kinematic equations. The Monte Carlo method was used to generate the workspace volume. An additive manufactured desktop prototype was developed and used for testing and experimentation.

Keywords—parallel kinematic manipulator, rotation, kinematics, workspace 

Cite: Wesley Emile Dharmalingum and Jared Padayachee, "A Spatial Parallel Kinematic Manipulator with Nested Kinematic Chains and High Rotational Range," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 6, pp. 401-409, November 2023.

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.