Kinematics and workspace analysis for a novel 6-PSS parallel manipulator

Weiyuan Xu, Yangmin Li, Xiao Xiao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

8 Citations (Scopus)

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 languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
PublisherIEEE Computer Society
Pages1869-1874
Number of pages6
DOIs
Publication statusPublished - 1 Jan 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: 12 Dec 201314 Dec 2013

Conference

Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
CountryChina
CityShenzhen
Period12/12/1314/12/13

Keywords

  • 6-PSS Parallel Robot
  • Kinematics
  • Workspace

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

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