Design analysis and synthesis of a non-conventional parallel manipulator with innovative joints

This thesis concerns a research project in which parallel kinematic manipulators consisting of different types of joints and varying number of limbs are assessed in terms of their output characteristics. To increase the orientation capability of a parallel kinematic machine, a small number of limbs is necessary lo reduce limb interference. An innovative algorithm is implemented based on physical limits of the joints and condition number calculation of inverse Jacobians. Larger workspaces are found in the cases where spherical joints are used on the lower end of the limb as compared to other joints. A three legged SPS system is selected for further ysis due to its minimum number of limbs and the use of spherical joints in order to gain maximum degree of freedom.EThOS - Electronic Theses Online ServiceGBUnited Kingdo