Abstract:
In this thesis a spherical parallel manipulator with coaxial input shafts (Coaxial SPM)
is under study. It is a part of a bigger family of spherical parallel manipulators (SPM)
with a special feature of unlimited roll rotation around its axis. This feature makes
the Coaxial SPM of high interest for applications in motion control system. First, an
approach for obtaining unique forward and inverse kinematics solutions is introduced,
in order to relate the angular position of the manipulator servomotors to the position
and orientation of Coaxial SPM mobile platform and vice versa. Then, a configuration
space of the manipulator is defined by using a numerical procedure, in order to
guarantee the absence of singularities and of collision between the manipulator links
during the manipulator motion. Afterwards, the Cartesian space of the manipulator
is generated. Results of these analyses are applied to the assembled mechanical
prototype of Coaxial SPM for experimental verifications.