Morphological synthesis and workspace design for a parallel manipulator with linear actuators

Abstract

This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies. The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphology is detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices.