| Along with the various social science and technology advancing, the scholars for parallel robot research has moved on and perfect. In the process of the research of robot, began to focus on parallel robot is an important breakthrough. Parallel robot has many advantages, such as control precision, its weight is lighter, strong carrying capacity and high flexibility. Become the current research and application hotspot. But there are some disadvantages of parallel robot and its working space of the manipulator can achieve serial mechanism has limitations compared shape and size, the workspace refers to parallel mechanism for operation control, motion platform can achieve all of the manipulator end position set of discrete points.The size and shape of the workspace is a parallel robot is designed and the reference index. For the performance of the decision mechanism and application direction is of great significance. So the research work space is worthy of attention. Based on this, this article first analyzes the 3-UrPS and 3-UrRS parallel robot structure, position by means of euler Angle, rotation transform into the equation. Then the limit of numerical search method for 3-UrPS and 3-UrRS position of the parallel robot moving platform were analyzed, and through the kinematics inverse solution to determine the drive parameters such as length, Angle of rotation input, if can satisfy all the constraint conditions, then the reference point is within the workspace, or outside the workspace. Through the limit of boundary search method to find all the boundary of the workspace, composed of these points and the surface is the workspace of the parallel mechanism. Using the Matlab software for 3 d simulation on its working space, work space graphics. In this paper, based on the solution to the problem of requirement analysis, use the various visualization software improves the degree of visibility of the article. |
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