Jian Song, Quanguo Lu, Hongzhou Wang, Minghang Yue, Zhihao Li, Kaixin Chen, Xiaohui Zou, Guohui Liu
Parallel manipulator, 3T1R motion, kinematic analysis, workspace,condition number
This paper presents a novel 3T1R parallel manipulator with unlimited rotational capability. The moving platform is connected to the base via two identical branches, and all joints are revolute joints, resulting in a symmetrical and simple structure. The kinematic solu- tions, Jacobian matrix, singularities, and reachable workspace are comprehensively analysed. The dexterous workspace is determined, enabling unlimited rotation of the moving platform around any point within it. The isotropy conditions are determined. The results of the local conditioning index distribution indicate the PM’s excellent kinematic performance. Numerical simulation verification confirms the unlimited rotational capability of the parallel manipulator and its potential for pick-and-place (PnP) applications.
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