Analysis on the processing dexterity of 3-UPS Parallel Robot

Abstract

In this paper, one kind of 3-UPS Parallel Robot is researched. At first, the inverse matrix of Jacobian is obtained according to the inverse kinematics equation of Parallel Robot, and then the condition number of Jacobian matrix is acquired. Then, it takes the condition number of Jacobian matrix as measurable index to analyze the processing dexterity of Robot based on MATLAB. Therefore, the distribution feature of processing dexterity is obtained in the workspace of Robot. The result shows that the processing dexterity of this Parallel Robot is very good. The conclusions of the analysis have the great theoretical significance to the structural design, the design and inspection of practical workspace and the kinematical simulation of the Parallel Robot.