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首页> 外文会议>1999 North American Manufacturing Research Conference (NAMRC), May 25-28, 1999, Berkeley, California >WORKSPACE ANALYSIS OF A NEW PARALLEL MANIPULATOR
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WORKSPACE ANALYSIS OF A NEW PARALLEL MANIPULATOR

机译：新型并联机械手的工作空间分析

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摘要

This paper studies the workspace of a six-DOF parallel manipulator of three-PPSR (prismatic-prismatic-spheric-revolute) type. It is well recognized that the most significant drawback of parallel manipulators is their limited workspace. To develop new parallel mechanisms with a larger workspace is of interest to additional applications. The mechanism of the three-PPSR manipulator and its variations are briefly analyzed first. The workspace is then determined and the effects of joint limit and limb interference constraints on the workspace shape and size are studied. The constituent regions of the workspace corresponding to different classes of manipulator poses are discussed. It is shown that the workspace of this parallel manipulator is larger than that of a comparable Stewart platform especially in the vertical direction.
机译：本文研究了三PPSR（棱柱-棱柱-球体-旋转）型六自由度并联机械手的工作空间。众所周知，并行操纵器的最大缺点是其有限的工作空间。开发具有更大工作空间的新并行机制是其他应用程序所关注的。首先简要分析了三PPSR机械手的机制及其变化。然后确定工作空间，并研究关节极限和肢体干涉约束对工作空间形状和大小的影响。讨论了对应于不同类别的操纵器姿势的工作空间的组成区域。结果表明，这种并联机械手的工作空间比类似的Stewart平台要大，尤其是在垂直方向上。

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