Design and Kinematic Analysis of a 6-DOF Asymmetric Parallel Robot Manipulator with 4-SPS and 2-CPS Type Legs

摘要

This paper presents the design, inverse kinematic, Jacobian and workspace analysis of a six Degrees of Freedom (6-DOF) asymmetric parallel robot manipulator. The manipulator was designed by two CPS and four SPS type legs (C: passive cylindrical joint, P: active prismatic joint, S: passive spherical joint). The mechanism includes two passive cylindrical joints at the lower ends of its two legs instead of the spherical joints as in its symmetrical counterparts. Thus, the asymmetry of the mechanism is because of the two cylindrical joints. The basic mathematical formulations for inverse kinematic and Jacobian matrix analyses are given, and the effects of the cylindrical joints on the reachable workspace of the mechanism are presented. Moreover, the dextrous translational workspace of the mechanism is also obtained and compared by the workspace of the classic symmetrical six DOF SPS parallel manipulator. The results show that using cylindrical joints make the mechanism has better workspace characteristics than the classical one.