The Kinematics And Workspace Analysis Of A New Kind Of6-dof Parallel Manipulator With Three Limbs

From the first human proposed the parallel manipulator to constantly applying themechanism, the research has been continuously improved. In real life, we can see theparallel manipulator everywhere, such as parallel type tower crane in the construction etc.In this paper,a new mechanism is put forward. The mechanism has six degree offreedom, but it has its own characteristics itself. This thesis is mainly doing a simpleresearch on the manipulator. Its main content is the kinematics. The inverse positionanalysis of the new mechanism kinematics analysis provides important theoreticalfoundation about the velocity, acceleration analysis and workspace analysis of themechanism. In addition, the workspace also makes a brief analysis. The process of reachingthe manipulator and the factors of the manipulator are described. Now we list the maincontent of the paper.1. The author briefly explains the structure of the new parallel manipulator, includingthe working principle and process of the mechanism. The three-dimensional solid model ofthe mechanism is established. The author also complets the analysis of the mechanism‘sdegree of freedom. At last, we can see the mechanism has six degree of freedom.2. The author establishes the mathematical model on the basis of the top view and thediagram of the mechanism, analysising the kinematics of the new parallel manipulator.Based on the analysis of the inverse position, we get the inverse solution of the position.After the mechanism velocity analysis, the jacobian matrix of the manipulator solved.3. After the kinematics analysis, the workspace of the parallel manipulator has done.The author uses the software to draw a body of the workspace, analysising the influence onthe workspace size and shape which the driving rod length limit and the dynamic platformradius size change affect, provides the basis for the trajectory and the performance analysisof the new parallel manipulator.