This paper presents a transformation method to generate the workspace of an n(3RRS) serial–parallel manipulator (S–PM). Firstly, the boundary of the workspace of the 3RRS parallel manipulator (PM) is obtained using the boundary search method and verified by MATLAB/SimMechanics simulation. Secondly, the workspace of the 2(3RRS) S–PM is obtained using the proposed method and verified by MATLAB/SimMechanics simulation. Finally, the workspace of the 3(3RRS) S–PM is obtained using the proposed method. The results indicate that the n(3RRS) S–PM can significantly expand its workspace with the increase in the number of PMs connected in series, and the proposed method can generate the workspaces of n(3RRS) S–PMs efficiently with the advantages of simple operation, high efficiency, and high accuracy. The proposed method is applicable to all S–PMs that are composed of PMs, and it provides a reference for solving the workspaces of other types of redundantly hybrid manipulators.
A Transformation Method to Generate the Workspace of an n(3RRS) Serial–Parallel Manipulator
These two authors contributed equally to this study.
Contributed by Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received October 17, 2018; final manuscript received December 19, 2018; published online April 18, 2019. Assoc. Editor: Dar-Zen Chen.
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Guo, H., Zhao, C., Li, B., Liu, R., Deng, Z., and Tian, J. (April 18, 2019). "A Transformation Method to Generate the Workspace of an n(3RRS) Serial–Parallel Manipulator." ASME. J. Mech. Des. September 2019; 141(9): 092301. https://doi.org/10.1115/1.4042625
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