2011•Journal of Yanshan UniversityRequires access

Workspace analysis of a novel 3-UPS parallel mechanism

HE Xiao-jing

Abstract

A novel 3-UPS 6-DOF parallel mechanism with three branches is designed and its inverse kinematics is built.By giving the main constraint,the boundary and the section of constant orientation workspace are described using 3D polar boundary search method.The effects of parameters on the workspace volume are analyzed for the parameter selection.This mechanism has a large workspace and good at continuity.It is suitable for legs of robot.

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Key concepts: Workspace, Mechanism (biology), Boundary (topology), Kinematics, Computer science, Parallel manipulator, Constraint (computer-aided design), Orientation (vector space)