Developing a 3D-Printed Parallel Manipulator for Enhancing Robotics Education
Hentai Dai, Xi Wang, Adam Crowe, Xin Dong, Gang Chen · 2024
This paper presents a specific parallel manipulator model known as the 3-RSR wrist for enhancing educational accessibility for students pursuing robotics. Fabricated using 3D printing to ensure affordability and accessibility, the manipulator is introduced as a cost-effective educational tool, with a replication cost of £85.76 for students. The control system was implemented successfully and underwent optimization for improved performance. An indepth analysis of the 3-RSR wrist's mechanical configuration, control, kinematics and workspace capabilities is provided in this paper. The manipulator achieves a high degree of accuracy in its operational limits, closely mirroring those of geometry limits with 99.5% accuracy and reaching 95% accuracy in comparison to theoretical limits.