DIMENSIONAL SYNTHESIS AND KINEMATIC ANALYSIS OF PURE ROTATIONAL 3 RSR PARALLEL MECHANISM

ABSTRACT This research describes about spherical parallel mechanisn on three degrees of freedom pure rotational parallel mechanism (3-RSR). There are several kinematic constants are needed to be specified. Determination of kinematic constants are affected by several considerations. In this research workingspace, singularity and limitation of joint connecting will be applied to obtain the optimal set of kinematic constant. Then forward kinematic was also discussed relationships between input joint displacement and platform orientation. Based on calculation results, it was obtained the optimal configuration of kinematic contants specified as angle of joint revolute with respect to base , angle of joint revolute with respect to platform , Length of first link , radius of platform and radius of base and then the formulation of forward kinematic was successfully derivied. Keyword: workingspace, singularity, spherical parallel mechanis