Development of a Spherical In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Working Space and High Motion Transmissibility : Evaluation of Motion Transmissibility and Analysis of Working Space

Abstract

For a spherical in-parallel actuated mechanism with three degrees of freedom in which the output link is connected to the base link by three connecting chains composed of an input link, a coupler link and three revolute pairs each, a transmission index (TI) is proposed based on the power transmitted from the input links to the output link. Static force analyses with consideration of elasticity of links have been carried out in the case where forces and moments are exerted on the output link as external loads. Then, mechanism synthesis is carried out considering both motion transmissibility and interferences among links, and a spherical in-parallel actuated mechanism with three degrees of freedom is proposed.