Abstract—This paper presents a spatial three-degree of
freedom (DOF) 3-PUS-UP parallel manipulator with
constrained branch that can be employed to high-speed milling
for large heterogeneous complex structural component in
aerospace field. Taking full consideration of the influence of the
actuated branches, the serial constrained branch and the
parasitic motion of the terminal moving platform, the
closed-loop vector method is employed to deduce the kinematic
position inverse solution, the actuation Jacobian matrix and the
constrained Jacobian matrix are obtained by resorting to the
screw theory and the D-H method, and the uniform full rank
Jacobian matrix is constructed. With the help of the matrix
condition number and matrix norm theory, the dexterity index
characterizing the comprehensive transmission performance of
the parallel manipulator is formulated. The distribution pattern
of the performance index of the 3-PUS-UP parallel manipulator
in the workspace is depicted by some cases, and the
performance distribution of the mechanism is briefly
investigated, and the optimum workspace region of the
dexterity is then drawn in detail. The research results illustrate
that the 3-PUS-UP parallel manipulator has good kinematic
dexterity, which can be applied to the precision assembly,
hybrid machine tool milling, and automobile spraying.
Simultaneously, thus it also has a good prospect in engineering
application.
Index Terms—Parallel manipulator, Jacobian matrix,
dexterity, condition number, optimum workspace.
Haiqiang Zhang and Bingshan Jiang are School of Mechanical, Electronic
and Control Engineering, Beijing Jiaotong University, Beijing, P.R. China
(e-mail: hqzhang@bjtu.edu.cn,17116381@bjtu.edu.cn).
Hairong Fang is with Beijing Jiaotong University and Robotics Research
Center leader (e-mail: hrfang@bjtu.edu.cn).
Shuaiguo Wang is with the Mechanical Engineer, MH Robot &
Automation Limited Company, Weifang, Shandong, P.R. China (e-mail:
13336362653@163.com).
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Cite: Haiqiang Zhang, Hairong Fang, Bingshan Jiang, and Shuaiguo Wang, "The Dexterity Analysis of a Spatial Three-Degree of
Freedom Parallel Manipulator with Constrained Branch," International Journal of Engineering and Technology vol. 10, no. 6, pp. 512-518, 2018.
