| The workspace of a novel 3-2-1 PSS orthogonal parallel robot is analyzed, and the main research contents as follows:The structural characteristics of 3-2-1 PSS orthogonal parallel robot are analyzed and the reverse position is established by using spatial mechanisms. The positioning posture and fixed location of the workspace of the graphic models basing on the inverse solution and structural constraints of 3-2-1 PSS orthogonal parallel robot are given. The effects of design parameters on the workspace of 3-2-1 PSS orthogonal parallel robot are analysized quantitatively.The 3-2-1 PSS orthogonal parallel robot kinematics transmission characteristics are studied, and the speed of isotropic properties of 3-2-1 PSS orthogonal parallel robot of the workspace of cross-sections is given. The kinematics performance workspace of 3-2-1 PSS orthogonal parallel robot is defined, and kinematics performance workspace of cross-section is given.The 3-2-1 PSS orthogonal parallel robot mechanics transmission characteristics are studied. The load-bearing capacity of isotropic properties and load-bearing capacity of the workspace of cross-sections are given. The mechanics performance workspace of 3-2-1 PSS orthogonal parallel robot is defined, and mechanics performance workspace of cross-section is given.The mechanics and kinematics performance workspace of 3-2-1 PSS orthogonal parallel robot is defined. Based on the effects of the design parameters to the workspace, the kinematics performance and the mechanics performance workspace, the specific parameter of horse which is motion simulation horse is given. The mechanics and kinematics performance workspace to cross-section are given. Calculates the position of torsion, and the motor provides a theoretical basis for selection. |
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