Development of RPS Parallel Manipulators

Traditional manipulator is based on serial design that has the advantages of large workspace and simple analysis, but suffers from many drawbacks such as low payload, low acceleration, low speed, high inertial, and accumulated error. The other kind of manipulators is based on parallel mechanisms which are expected to have those supplementary features: high payload, high acceleration, high speed, high rigidity (stiffness), low inertial, and non-accumulated error. These have potential to find important applications in areas like machining and automation in the semiconductor and electronic assembly industry. However, the analysis of the parallel manipulator is complicated because of the presence of constraints, and various singularities. As a result, so far, the available parallel platforms are not very popular and, indeed, have failed to perform their serial counterparts impressively. To solve the problems, in this research, several fundamental issues are addressed in the aspect of design and analysis. This project is concerned with the design of spatial 3-RPS parallel manipulators from dimensional synthesis point of view. The RPS parallel manipulator is developed using Solid works, 20sim and Sim mechanics. Some simulation results are discussed at the end of the paper.