Abstract
The working efficiency of a parallel manipulator with double moving platforms is better than a parallel manipulator with a single moving platform. In this study, a 2 (3HSS+S) parallel manipulator is presented, and the topology model of the parallel manipulator is established. After calculating, the position and velocity of the manipulator were analysed, and the workspace was obtained under the constraint conditions of parallel manipulator. Within the workspace, the motion dexterity was studied using the reciprocal of the condition number of the motion Jacobian matrix. The static load-bearing performance was analysed through the two norms of the force Jacobian matrix. The two performance indices, which are motion dexterity and static load bearing, indicate that the manipulator has favourable performance characteristics in the range of positive values of angle, which is the rotation in z-axis, but it has a singular position in the range of large negative values of angle. Within the scope of the singular point, the maximum and minimum eigenvalues of the stiffness matrix and the kinematic stiffness index (KSI) were analysed. It has been concluded that the stiffness characteristics are poor near the singular points, and the correctness analysis of the two performance indices has been verified by the results.
Highlights
Compared to traditional serial robots, parallel manipulators with lesser freedom degrees have such advantages as high stiffness, high precision and high bearing capacity and have been widely used.[1,2,3] The workspace of a parallel manipulator is one of the most important indices to evaluate the parallel manipulator
According to the kinematic characteristics of the end actuator of a parallel manipulator, the workspace of a parallel manipulator was divided into a flexible motion space and a reachable motion space by Kumar and Waldron.[6]
Considering the constraint conditions of parallel manipulator, the numerical method was used to calculate the workspace of parallel manipulator
Summary
Compared to traditional serial robots, parallel manipulators with lesser freedom degrees have such advantages as high stiffness, high precision and high bearing capacity and have been widely used.[1,2,3] The workspace of a parallel manipulator is one of the most important indices to evaluate the parallel manipulator. Keywords Jacobian matrix, motion dexterity, static load, stiffness matrix The performance analysis of a parallel manipulator primarily contains motion dexterity, static load and stiffness matrix. Value of the Jacobian matrix as the index of motion transmission.
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