.6-sps Parallel Robot And Its Structural Parameters Are Optimized

Recently the development of parallel manipulator has become a hot topicin the robotic research field, there are some advantages in the parallelmanipulator which serial manipulator doesn't possess, therefore, it enlargesthe range of robot application.On the basis of research on the forward kinematics of the 6-SPS parallelmanipulator, this paper presented the numerical solution of the forwardkinematics of the manipulator with the successive approximation method, andusing the methods of mechanism motion influence coefficient and vector-crossing, thevelocity and acceleration forward equation and reverse equation of theparallel manipulator have been established. To search for the singularpositions of the 6-SPS manipulator mechanism the research on each element ofthe Jacobian matrix has been carried out by numeric method. By applyingL-equation, this paper deduced the dynamics model of the manipulator, and usedGenetic Algorithm to deal with mechanism dimension parameters optimizationof the 6-DOF parallel manipulator in fixed pose. Defining the evaluatingindices of the kinematics comprehensive performance and static transmissionof the parallel manipulator, it also presented distributing situation of eachperformance index in the fixed pose workspace. Then the maximum force whichthe hydraulic cylinders of the six links can take, the maximum length of thelinks and average velocity have been calculated, these provided the bases forselecting hydraulic cylinder types and power source.Finally, through dynamics simulation of the 6-DOF parallel manipulatorwith ADAMS software, this paper derived force curves of each link and provedthe optimal design results obtained by genetic algorithm.