Study On Workspace Of A Novel Parallel Robot With Six Degrees Of Freedom

The parallel robot has become a hot spot for a long time because of its simple structure, high stiffness, high precision, and low movement inertia. Its application is increasingly broader. The entire and systemic research on the parallel robot is of great importance both on theory and application. This paper researchs on a novel plane five-bar mechanism parallel robot with six degrees freedom. The kinematics is researched firstly, based on this, the workspace of the parallel robot is researched and the structural parameters are optimized.The analysis of the forward kinematics is the foundation of other performances' study on the parallel robot. This paper adopts the genetic algorithm to get the forward kinematics results and carries out the grouping of these results based on the theory of gray relative analysis. This method is easy and useful for all parallel robots and is an effective new way to solve the forward kinematics problem of the parallel robot. Because the inverse kinematics of this model is more complex, This paper also adopts the genetic algorithm to get the inverse kinematics results.The analysis of the workspace is the foundation of the design of the parallel mechanism. The workspace is an important target to evaluate the working capability of the parallel mechanism. The analysis of the workspace of the parallel mechanism is not so easier as that of the series one. The workspace of the parallel robot is analyzed in detail. Intersecting curves of different conditions are plotted.Structural parameters' design is the foundation of the design of parallel robot. So how to design structural parameters of parallel robot to satisfy the fact demand is essential to parallel robot's design. In this paper, both the volume of the effective space and the radius and height of effective cylinder are used to evaluate the workspace. based on these, the influence curves of structural parameters to workspace are plotted. Under meeting the radius and height of the workspace needs with Minimization of the wholemechanism's dimension as optimize goal, the structural parameters of the parallel robot are optimized using genetic algorithm.Finally, this paper points out the direction of study in the future.