Kinematic dexterity performance analysis of a parallel robot manipulator

Haiqiang Zhang; Huanzhi Yuan; Changtao Yan; Yanan Yao

doi:10.1117/12.2625284

12 December 2021 Kinematic dexterity performance analysis of a parallel robot manipulator

Haiqiang Zhang, Huanzhi Yuan, Changtao Yan, Yanan Yao

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271L (2021) https://doi.org/10.1117/12.2625284
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

In this paper, a three-degree of freedom (DOF) parallel robot is introduced, which can process high-speed difficult and high-precision components in aerospace and automotive engineering. An appropriate reference system is established and the model of the equipment is designed. The kinematics of the mechanism is analyzed, and the complete Jacobian matrix of the mechanism is established by position inverse solution and D-H method. Using the condition number and manipulability as indexes, the dexterity index and the optimum workspace of the parallel robot are evaluated. According to the obtained results, the distribution maps of performance indexes of 3-PUS-UP parallel robot mechanism within workspace are drawn by Matlab software. The research results illustrate that the proposed parallel manipulator has good kinematic dexterity and thus a suitable candidate for five-axis machining.

Citation Download Citation

Haiqiang Zhang, Huanzhi Yuan, Changtao Yan, and Yanan Yao "Kinematic dexterity performance analysis of a parallel robot manipulator", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271L (12 December 2021); https://doi.org/10.1117/12.2625284

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