Workspace analysis for a novel 3-DOF parallel manipulator

Abstract

With the development of parallel mechanism technology,imperfect-DOF parallel mechanism has attracted more attention due to their simple in structure,easy in control,etc.Moreover,they have much wider application foreground in the industrial sector.For solving the problem of small workspace of the parallel manipulator,a novel 3-DOF parallel robot was investigated,which workspace symmetrically distributes on both sides of the fixed platform.Based on analyzing the structural characteristics,the inverse solution of the kinematics equation for the moving platform is deduced.According to the constraint conditions,the boundary diagram of workspace on section Z and the three dimensional chart are plotted through numerical method.And the effects of the design parameters on the workspace volume are studied quantitatively.