A new six degree-of-freedom parallel robot with three limbs for high-speed operations

Abstract

This paper presents a novel six degree-of-freedom (6-DOF) parallel robot with only three identical limbs for high-speed operations. First, displacement analysis of the new parallel robot is performed, in which the closed-form forward displacement model can be obtained through a relatively concise derivation. Then, velocity and acceleration models of the new parallel robot are established, and a typical numerical example is used to illustrate the correctness of the derived kinematic model. Further, singularities of the new 6-DOF parallel robot are identified based on screw theory. At last, the workspace of the new parallel robot is quantitatively analyzed. Compared with the most classic 6-DOF counterpart (Hexa robot) for high-speed operations in existence, the proposed new parallel robot has a simpler forward displacement model, and has larger position workspace and higher rotation ability. With these characteristics, the new parallel robot has a good application prospect in high-speed assembly and spatial pick-and-place.