Abstract
This paper investigates the kinematic performances of kinematics, Jacobian, singularity and interferences of a novel six-degree-of freedom (DOF) parallel manipulator. Analytical solutions of the forward position kinematics have been worked out. Three-dimensional Cartesian space generated by a stroke interval from lmin to lmax fulfils the point workspace are illustrated, and the reachable workspaces are obtained. The notion of pure translational Jacobian of constraint matrix is introduced, and two types of conventional singularities are analyzed. Finally, auxiliary vectors are introduced to determine the link interferences, shown that there are two kinds of interferences in the system, one is angle-interference in one limb, and the other is distance-interference in adjacent limbs.
Highlights
A parallel robot is defined as a mechanism having at least two kinematics chains connecting the base to the end effector, and the end effector has n d 6 degree-of freedom (DOF) [1]
This paper investigates the kinematic performances of kinematics, Jacobian, singularity and interferences of a novel six-degree-of freedom (DOF) parallel manipulator
A parallel robot is defined as a mechanism having at least two kinematics chains connecting the base to the end effector, and the end effector has n d 6 DOF [1]
Summary
A parallel robot is defined as a mechanism having at least two kinematics chains connecting the base to the end effector, and the end effector has n d 6 DOF [1]. A key issue for parallel robot is optimal design. Optimal design methodologies have to rely on kinematic performance indices. There is a rich body of literatures addressing the design problem of developing good performance of a manipulator based upon workspace optimization [6,7]. The kinematic performances of a manipulator, Jacobian and singularity analyses are commonly used [8,9]. The performance analysis is an important activity during the design process of robotics systems. A good design is one in which a manipulator of suitable mechanical possesses good performances. Performance criterias are commonly used in structural design [14]. The optimum design and selection of the geometric parameters is very important in robotics In general, high performance is given by high mechanical advantage. Many design approaches have been proposed for this problem, much effort on it continues
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