Performance Analysis And Optimization On 6-DOF Parallel Manipulator With Adaptive Actuated Limb

With the development of the science and technology, robot technology is applied by many aspects of industrial manufacture widely. Because parallel kinematic machine has many advantages, such as high stiffness and precision, low inertia, it has become the research high lights of various countries research institute. Its research results are applied in astronautics, precision machinery manufacture, the medical service, the bio-engineering and so on.This paper proposes a kind of 6-DOF parallel kinematic machine with adaptive actuated limb in order to meet the demand of five-faces machining. The detailed performance analysis of the manipulator is shown, including the closed-form solutions of inverse and forward position problems, the singularity, dexterity, workspace, tilting capability and static rigidity. Through optimization on the length and sectional area of motivation limb, the structure design of base, the kinematic performance and structure rigidity are greatly enchanced. Thus at the same time of reducing singularity position and enhancing tilting capability, enabled the machine to possess bigger workspace, higher precision and rigidity.Through performance analysis and optimization research, the machine possess better kinematic, mechanical property and tilting capability. It adapt the occasion of complicated five-faces machining.