XU Han, LI Jing, CHEN Yuan, ZHANG Rongmin, GAO Jun. Kinematic Modeling of Spherical Parallel Manipulator with VectoredThrust Function for Underwater Robot Based on Screw Theory[J]. ROBOT, 2016, 38(6): 738-745,753. DOI: 10.13973/j.cnki.robot.2016.0738
 Citation: XU Han, LI Jing, CHEN Yuan, ZHANG Rongmin, GAO Jun. Kinematic Modeling of Spherical Parallel Manipulator with VectoredThrust Function for Underwater Robot Based on Screw Theory[J]. ROBOT, 2016, 38(6): 738-745,753. DOI: 10.13973/j.cnki.robot.2016.0738 # Kinematic Modeling of Spherical Parallel Manipulator with VectoredThrust Function for Underwater Robot Based on Screw Theory • To design a simple-structured thruster with rotation transmission and attitude adjustment functions for underwater robots, a method of constructing an over-constrained parallel manipulator is adopted to develop a 3 degree-of-freedom (DOF) spherical parallel manipulator with vectored thrust function. Based on screw theory, topological structure model of the manipulator is constructed to analyze the motion characteristics of the mechanism and calculate the forward and inverse solutions of the manipulator pose. Jacobian matrix of the manipulator is deduced by employing the vector algebra method on the basis of closed chain constraint equations. The analytical models of the manipulator velocity and acceleration are established by decoupling the configuration of feature structure, and then corresponding numerical calculation examples are given. The forward and inverse solutions of the manipulator kinematics are calculated to obtain the reachable workspace, and the correctness of the proposed numerical calculation method is verified by Adams software. The proposed manipulator with vectored thrust function has a large deflection range.
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