The Performance Analysis On A 6-RSS Orthogonal Parallel Mechanism

Parallel mechanism is a focus in international. Recently the conception and the application about robot have been improved from the fodder of science fiction movie to the electromechanical equipment of computer controlling which widely used in industry area. Many subjects and technologies have been transformed with its appearing. Especially the impact on the field of designing and controlling is difficult to estimate.This paper analyzed the performance of a 6-RSS orthogonal parallel mechanism. On the basis of research production, the structure character of a 6-RSS orthogonal parallel mechanism which is converted from the Stewart platform has been analyzed.Firstly the kinematics complex transmissibility assessment index and the static complex transmissibility assessment index of the parallel machine were studied. And the distributing of every character index in fixed pose workspace was displayed. Secondly on the basis of the mechanism kinematics' analyzing, the mechanism's workspace was analyzed through the Jacobian matrix and the inverse kinematics equation. The reachable workspace of parallel mechanism was worked out by general analytical method.These results can provide the theoretic base for the further analysisof parallel mechanism.