Analysis on Kinematics and Dynamics Performance indices for 6-PUS Parallel Robot Mechanism

摘要

Influence coefficient matrix changes with configuration of the mechanism. 121 mechanisms, which are called a mechanism group, are gotten by changing 6-PUS mechanism's dimension. Then the performance indices of kinematics and dynamics for 6-PUS parallel robot mechanism with different dimension are studied by considering both the first and the second order influence coefficient matrix of different sample point in every mechanism's workspace. This breaks through the restriction due to considering only the first order influence coefficient matrix in the past. Furthermore, the paper also discusses the performance differences of mechanisms with different dimension by the atlas of global performance index and validates them. The proposed methods may offer reference for designing parallel robot mechanism of this type with good performance.