Path Planning Method for Optimum 3-RRR Spherical Parallel Manipulator

This work addressed the path planning method for optimum 3 RRR spherical parallel Manipulator (SPM), and developed an approximating shortest path algorithm in 3D space, which is called rubberband algorithm. Its pesudocode was also given in this study. The time complexity of RB was analyzed, and showed that it was linear order. The kinematics was also studied for attaining its cloud point map. The workspace of the optimum 3 RRR SPM was proved to be topologically orientable and periodic, based on which shortest path searching direction was determined to improve the calculating speed. Via computing four groups of inputting data the method for minimum energy cost path was proven to be feasible. The curve of each motor’s angular displacements was also attained in this work.