Static analysis of a 3-RRS and a 3-RSR Spherical Parallel Robots

Static analysis of two 3-degree of freedom spherical parallel mechanisms, 3-RRS and 3-RSR, is the main purpose of this study. First, static equilibrium equations are derived for the whole chains. For this work geometry of these mechanisms are expressed. In these mechanisms, the number of equations and unknowns are equal and solved by MATLAB software. On the other hand, the CAD model of these mechanisms have been simulated and their static are analyzed in a computer algebra system. By comprising the results obtained from solving the equations of mechanisms by the results obtained from ADAMS, the accuracy of the work is proved. The forces acting on the end-effector have been considered asymmetric to prove the generality of the solution method. This is also performed for external torques.