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This research studies on topological design the robot manipulator combined a 3-DOF parallel manipulator and a 2-DOF wrist manipulator (PMWM). The robot has a parallel manipulator with three links and a central link for positional motions, i.e., x, y, and z and a wrist manipulator with two rotary active joints for rotational motions, i.e., yaw and pitch. The proposed parallel-serial typed manipulator is applied to machining and assembly works for the complex shape. These works must meet between high stiffness and large workspace of the manipulator. In order to achieve the topological design on workspace of a 2-DOF wrist manipulator, we adopt the degree of parallelism and define the d.o.f of a link and the radius of a base and a platform, the initial length of link, etc. To determine the parameters of wrist, investigation is done i.e., kinematics and workspace analysis. In results, we show topological design parameters of the manipulator meet a desired workspace.