Examining the Workspace Performance of a Multi-DOF Parallel Robot Manipulatorss

Míngzé, Qian

pages:1-6

This paper proposes a parallel robot manipulator with five degrees of freedom (DOF). The 5-SPSUPU parallel robot manipulator's kinematics, workspace, and dexterity performance were all methodically inferred. The stationary platform, five similar legs, a passive-constrained leg, the moving platform, and a few joints make up the suggested system, which has two rotations and three translations. Initially, the coordinate transformation theory and differentiation method were used to derive the inverse of kinematics and the Jacobian matrix. Second, the software uses the boundary search approach to examine the novel robot's workspace. The robot's posture and position workspace variations are analyzed numerically and reported. Third, an analysis of the suggested manipulator's dexterity performance revealed that its best kinematic dexterity is 1.1. According to the analytical findings, the robot described in this study has a large effective workspace and dexterity, making it suitable for widespread use in the industrial robots area.

Keywords: Parallel manipulator, kinematics analysis, workspace, dexterity.