Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom

Abstract

n the present paper, we proposed a new structure of spatial in-parallel actuated mechanism with six degrees of freedom in which the position and orientation of the output link are decoupled. A number synthesis of the positioning sub-mechanism has been carried out, and fifteen mechanisms have been clarified. For four of the new mechanisms, fundamental equations for kinematic analysis have been derived, and their forward/inverse displacement analysis has been investigated. Based on the equations, their workspace and swing angle have been investigated. A prototype mechanism that was designed for a shoulder complex was shown. Experimental results are shown to support the theoretical results mentioned above.