Design and workspace optimization of a 6/6 cable-suspended parallel robot

摘要

This paper mainly addressed the design and workspace optimization of a 6/6 cable-suspended parallel robot. Based on workspace is an essential index that it evaluates the working capacity of parallel mechanism, the size of the workspace determines the moving space of parallel mechanism. This thesis makes use of MATLAB software to program applications, analyze how the mechanized geometric configurations of the base (moving) platform, the ratio of the circumcircle radius and variation of the three posture angles of the moving platform to the base one influence on the two performance indices to work out the optimal workspace.