Simulation and computer-aided design of spherical parallel manipulators

This paper discusses the kinematic simulation and computer-aided design of spherical parallel manipulators with either prismatic or revolute actuators. The kinematic analysis of spherical parallel manipulators is first reviewed. Solutions for the direct and inverse kinematic problems are given and the expressions for the singularity loci are briefly introduced. The determination of the workspace of this type of manipulator is then addressed. Finally, a computer package developed specifically for the CAD of spherical parallel manipulators is presented. This package allows the interactive analysis of manipulators of arbitrary architecture including the representation of the workspace, the representation of singularities, and the graphic animation of trajectories specified either by the direct or the inverse kinematic module. It can be used for the design of any spherical parallel three-degree-of-freedom actuated joint which can find many applications in high-performance robotic systems. Examples of potential applications include teleoperation systems and robot arms for autonomous underwater vehicles