Using CAD functionalities for the kinematics analysis of spatial parallel manipulators with 3-, 4-, 5-, 6-linearly driven limbs

A novel computer aided geometric approach is put forward for designing the computer simulation mechanisms of spatial parallel manipulators with 3-, 4-, 5-, 6-driving limbs. Several new spatial parallel manipulators with 3-, 4-, 5-, 6-driving limbs are synthesized. Some common computer aided geometry constraints and dimension driving techniques and definitions for designing the simulation mechanisms are presented. Based on some new and original spatial parallel manipulators with 3-, 4-, 5-, 6-driving limbs, the 12 types of simulation mechanisms are created, respectively, by applying these techniques. When the driving dimensions of driving limbs are modified by using the dimension driving technique, the configurations of the simulation mechanisms are varied correspondingly, and the kinematic parameters of the moving platform are solved. The results of computer simulation prove that the computer aided geometric approach is not only fairly quick and straightforward, but is also advantageous from viewpoint of accuracy and repeatability.