Design and Analysis of Simplified Parallel Manipulator for High-span Working Condition

It is urgent to realize the automation of kinds of high-span non-industrial operation, such as taking books from and placing books onto the library shelves, whereas existing manipulators cannot take cost and high-span manipulating ability into consideration at the same time. In this paper, a new simplified parallel manipulator mechanism for high-span application is proposed. Based on the frame of triangular prism and parallel driving mechanism, a new manipulator mechanism is designed using only one linkage, one linear guide and three sheaves. The forward and inverse kinematic models of the manipulator are analyzed and established. And an optimal control scheme is proposed. Finally, the key dimension and workspace analysis of the manipulator are illustrated taking library as a typical example of application scene.