Research Of The Singularity And Workspace Of 6-SPS Parallel Robot

In recently years, study of parallel robots becomes more and more concerned in the research field of robotics. The parallel robot is a new kind of robots. Compared with traditional serial robots, parallel robot shows better characters in structure stiffness, loading capacity, operation accuracy and load/weight ratio. These advantages make the parallel robot more competent than the traditional serial robots in some areas and also enlarge the application of robots.However, due to the specific multiple closed-loop structure of the parallel robot, it is rather difficult to analyze the singularity and to calculate the workspace for the parallel manipulators. Since the singularity and workspace is indispensable for designing the robot. Research for the workspace and singularity will be of great significance. It not only can offer theoretic reference for control and track layout of parallel robots but also help to choose parameters and scope of velocity parameters reasonably and magnify volume of workspace of parallel robots. So performance of parallel robots will be improved.The main study object in this thesis is a 6-SPS parallel robot. Firstly, a well-known method on workspace analysis of 6-3 "Stewart Platform"-"Vertex Space" method was analyzed and studied. Combined with structure characteristics of parallel manipulators, such as coupling and symmetry, the workspace of parallel robot was proved reasonably inthis thesis. After analyzing restriction of affect workspace, With three-dimensional integral, an analytical solution of workspace of 6-SPS parallel robot is obtained, and the shape and volume of its workspace are gained also.Secondly, on the basis of mathematics model and MATLAB software platform, the simulation system of workspace of 6-SPS parallel robots are developed through the method that combines parametric design with interactive design. In addition, the effect that used different structural parameters to shape and volume of workspace was analyzed. The interface of simulation system is friendly, and it is valuable for the simulation system to improve designing efficiency and choose structural and velocity parameter reasonably.Finally, the current status in research of singularity of parallel robots are classified in detail. Furthermore, based on Influence Coefficient Matrix Theory and Screw Theory, singularity principle of parallel robots are discussed.Hu Guosheng (Mechanical Design and Theory) Supervised by Gu Hongbo...