Abstract
In this paper, a novel 6-PSS parallel manipulator is designed and the three dimensional structure model is obtained with the Solidworks. The inverse kinematics analysis is performed based on the designed geometric parameters. And according to this analysis, we obtain the theoretical simulation results of virtual structures with different positions and orientations by using MATLAB software. These simulation structures verify the feasibility of this novel 6-PSS parallel manipulator. With a given orientation, a numerical search method is adopted in finding the reachable workspace with the judgment conditions of physical constraints, and the relationship between the reachable workspace and the size of the structure is studied in virtual simulation. Therefore, the range including the largest reachable workspace is achieved and a possible further application of this novel 6-PSS parallel manipulator is proposed, especially in some fields of different structure size requirements.
| Original language | English |
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| Title of host publication | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 |
| Publisher | IEEE Computer Society |
| Pages | 1869-1874 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 1 Jan 2013 |
| Externally published | Yes |
| Event | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013 |
Conference
| Conference | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 |
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| Country/Territory | China |
| City | Shenzhen |
| Period | 12/12/13 → 14/12/13 |
Keywords
- 6-PSS Parallel Robot
- Kinematics
- Workspace
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Biotechnology