6-PSS Based Parallel Manipulators

Abstract

The 6-Prismatic-Spherical-Spherical (6-PSS) joint kinematic chain based parallel mechanism is discussed. The stationary active axes in 6-PSS mechanisms in reference to base serve many design concepts and the varied applications of this are detailed. The design concept of 6-axis stiff wrench sensor is presented; the prototype based on 6-PSS chain is demonstrated. The mechanical master-slave manipulator design is shown and a three dimensional model and simulation is presented. The cam and the follower for a joint space prismatic displacement are proposed and the design is presented. Single actuator, tunable, specific spatial path following manipulator design concept is presented. The design and implementation of a single actuator shaker to operate in a six dimensional space based on a PSS joint configuration is demonstrated. The kinematic design analysis for generating an infinite signature set is given. The specific path based single actuator concept is extended to an array of 6-PSS manipulator based on the cam and the leg follower connected to a common drive shaft.