Performance Workspace Of 3-1-1-1 Distribution 6PSS Parallel Robot

Research of performance workspace of parallel robot has an important guiding significance for the design and application, 3-1-1-1 Distribution 6PSS parallel robot is a new institution, is mutated from Stewart, it applies to areas such as multi-DOF motion simulator. Based on this parallel robot, the performance workspace is analyzed, to provide reference for the design and application.In this paper, the performance workspace of 3-1-1-1 Distribution 6PSS parallel robot is analyzed. According to this type of manipulators structural characteristics, the positive and inverse position solutions are solved, the velocity Jacobian is solved.The workspace is analyzed, considering the major constraints of the robot, in order to facilitate observation, the three dimensional graphic of workspace and its corresponding contour are drawn. The influence of parameters of mechanism on the workspace is analyzed,which provides the basis for selecting parameters. The local kinematics and statics isotropic distribution in the workspace are analyzed, and the three dimensional graphic and its corresponding contour are drawn, the force Jacobian matrix is solved. The performance workspace based on the isotropics is analyzed, the corresponding three dimensional graphic are drawn, The impact of value range of kinematics and statics isotropic on workspace is solved.The kine- matics and statics performance workspace and kinematics-statics performance workspace are defined and analyzed, the corresponding three dimensional graphic are drawn by Matlab.The virtual prototype model of the robot is built by Solidworks, and the simulation curve is done by Adams, the simulation shows this parallel robot has a good kinematics performance.