Kinematics and Workspace Analysis of Tricept Robot

Abstract

The Tricept robot is one of the most widely used robots in industrial production today, and the 3UPSUP parallel mechanism(PM) is the mechanical basis of the Tricept robot, a kinematic study of the 3UPS-UP parallel mechanism to motion control of Tricept robot is of great importance. In this paper, the number of degrees of freedom of the 3UPS-UP parallel mechanism is obtained and its position inverse kinematic solution is obtained by the matrix variation method, then the numerical analysis method is applied to analyze the forward kinematic solutions of the mechanism, which lays the foundation for the motion control of the Tricept robot. On the basis of the inverse solution results, the workspace of the 3UPS-UP parallel mechanism is obtained in Matlab by the limited boundary searching method. The analysis shows that the 3UPS-UP parallel mechanism has the advantages of large workspace, regular cross-sectional shape, no internal cavity and smooth boundary, which meets the new requirements for robot workspace in the new era.