Analysis On Workspace And Stiffness Of Bipod Parallel Manipulator With Four Controlled Degree Of Freedom

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. Tripod and Bipod parallel mechanisms have been investigated for relevant applications, and obtain outstanding development. In this paper, systematic study on workspace,stiffness,singularity and static of a novel bipod parallel manipulator with four controlled degree of freedom has been made.In this paper, detailed kinematics, workspace, stiffness, singularity and static of this mechanism have been made. The constraint equations of the mechanism was derived by the loop-closure equation of the mechanism, and then the variable was derived by analytics and was expressed by known quantity, base on it, the closed-form solutions of forward and inverse kinematics were obtained.Analysis on workspace of this mechanism, given the simplest method:method of boundary numerical search, after analyzing restriction of affect workspace, with method of boundary numerical search, the Bipod Parallel Manipulator with Four Controlled Degree of Freedom is obtained and simulated, and then plotted the influence curves of structural parameters to workspace.In the stiffness analysis, firstly, the Conservative Congruence Transformation (CCT) stiffness matrix is derived, the general equation of parallel manipulator is given, and then the stiffness matrix of the Bipod Parallel Manipulator with Four Controlled Degree of Freedom is obtained, in the end, stiffness mapping is simulated.According to the analysis of Jacobian matrix, there are no singular pose and uncertain pose in the workspace of this parallel mechanism. In the analysis of statics, the inverse static solutions are established in the method of virtual displacement, and the simulation of it is done.