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Load capacity of a spatial rotation 4-SPS-S parallel manipulator has been studied in this paper. The 4-SPS-S parallel manipulator has spatial three pure rotation degrees of freedom, including four SPS active legs and one passive constraining leg, which can be used as heavy-loading vehicle kinematic simulation devices, precise positioning mechanism of tunnel erecter assembly robots in tunnel shield...
This paper proposes a new parallel manipulator with three purely rotational degrees of freedom, which consists of four SPS active legs and one passive constraining leg. The passive leg is introduced into this new parallel manipulator in to increase load capacity, stiffness and reliability of the structure, and to eliminate any redundant motion. Kinematic analysis of the manipulator is presented, including...
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