Research Of The Workspace Of 6-SPS Parallel Robot And Its Optimization Design

The 6-SPS parallel robots based on the Stewart platform have characteristics that series robots don't have, thus, theirs application is increasingly broader. The entire and systemic research on the parallel robots is of great importance both in theory and application. Through the analysis of the configuration parameters and principle of the 6-SPS parallel robots, the mathematics models of kinematics and dynamics are established in the thesis. Then the workspace of the parallel robot is researched and the configuration parameters are optimized.The kinematics analysis of the robots will work out the relations between the positions, velocities and accelerations of the input and output components. In the thesis, the inverse equations of the positions, velocities and accelerations are educed, and two numerical value solutions of the forward equations of the positions are given.The workspace is an important target to evaluate the working capability of the parallel mechanism. The analysis of the workspace is the foundation of the design of the parallel mechanism. The moving space is determined by the size of the workspace. The analysis of the workspace of the parallel mechanisms is not so easier as that of the series ones.The workspace of the 6-SPS Stewart platform whose joints are coplanar is analyzed. Based on the analysis, the workspace are defined, the restrictions and the graphic display of the workspace are researched.The configuration parameters of the Stewart platform influence the cost of 6-SPS parallel robots directly. In the thesis the configuration parameters are optimized when the cost is the smallest. The result of the optimization is deduced and certain economy effect is acquired.