Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
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.
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