A novel grid-based reconfigurable spatial parallel mechanism with large workspace

One of the main problems affecting parallel robots in industry is the low workspace to installation-space ratio. In this paper, the novel concept of a 3-P⌃UR (three-prismatic-translation and rotation universal-rotation) reconfigurable spatial parallel manipulator, driven by 2D mobile robots, is presented. Using three strategies on the same system, including drive range extension, base translation and dynamic joint reconfiguration, it is possible to enhance significantly the workspace to installation-space ratio, allowing fine manipulation over a large workspace. The architecture, kinematics and workspace analysis of this novel concept are developed and discussed. It is also demonstrated that through parameter fine tuning it is possible to shape the workspace to suit specific application requirements.