The Global Performance Of The New 6-pts Parallel Robot And Its Optimization Studies

For many years, the study for the 6-DOF parallel manipulator has been mostly on Stewart platform, but little on parallel micromanipulator which has further application in different areas. Based on previous research, this paper analyzes the kinematics and dynamics of a novel type of 6-PTS parallel micromanipulator that provides theoretical basis to improve the working performance and practical application of this kind of parallel robot.This paper introduces the mechanism characteristics of the 6-PTS parallel robot and solves the kinematics and dynamics equations, analyzes the chief factors influencing the workspace of the parallel mechanism, draws its three-dimensional workspace under the certain orientation by using MATLAB software based on the inverse kinematics.This paper presents the kinematics,statics and stiffness global performance indices as well as the kinematics and statics dexterity indices based on speed and force jacobian matrix and stiffness matrix, then draws up the atlases of each performance index. then, determines the range of mechanism parameters when global performance is optimal.This paper takes mechanism parameters mentioned previously as design variables and takes the workspace volume and kinematic dexterity index as comprehensive objective functions. Then carries out the optimal design of the dimension parameters under the constrain of compacted structure by using genetic algorithm toolbox of MATLAB software, and gets a new mechanism with better working performance and bigger workspace.Finally, this paper studies the simulations of the kinematics and dynamics of the 6-PTS parallel robot by using ADAMS software, and presents an example. According to the curves, we can not only evaluate the kinematics and dynamics performance at any time, but also check the correctness of the modeling.