Two novel spherical 3-DOF (degrees of freedom) parallel manipulators with circular prismatic pairs are proposed. One is 3-PC(RR)N parallel mechanism, where PC denotes a circular prismatic pair, (RR)N denotes two revolute pairs whose axes intersect at a common point N. The other is 3-PCRNS parallel mechanism. All the revolute axes in three limbs intersect at a common point N. The three circular prismatic pairs can be actuated. Mobility and singularity of this mechanism is analyzed via screw theory. Due to the circular prismatic pair, the rotational DOF of the moving platform about the z axis is decoupled from the other two rotational DOFs.

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