Topology synthesis of three-legged spherical parallel manipulators employing Lie group theory

Yang Qi, Tao Sun, Yimin Song, Yan Jin

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


Driven by the requirements of the bionic joint or tracking equipment for the spherical parallel manipulators (SPMs) with three rotational degrees-of-freedom (DoFs), this paper carries out the topology synthesis of a class of three-legged SPMs employing Lie group theory. In order to achieve the intersection of the displacement subgroups, the subgroup characteristics and operation principles are defined in this paper. Mainly drawing on the Lie group theory, the topology synthesis procedure of three-legged SPMs including four stages and two functional blocks is proposed, in which the assembly principles of three legs are defined. By introducing the circular track, a novel class of three-legged SPMs is synthesized, which is the important complement to the existing SPMs. Finally, four typical examples are given to demonstrate the finite displacements of the synthesized three-legged SPMs.
Original languageEnglish
Pages (from-to)1873-1886
JournalProceedings of the institute of mechanical engineers Part C: Journal of Mechanical engineering science
Issue number10
Early online date03 Sep 2014
Publication statusPublished - Jul 2015

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Journal impact factor: 0.589


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