Workspace and statics analysis of 4-UPS-UPU parallel coordinate measuring machine

Chen, Xiulong; Liang, Xiaoxia; Sun, Xianyang; Deng, Yu; Feng, Weiming; Cao, Yi

doi:10.1016/j.measurement.2014.05.035

Cited by 9 publications

(1 citation statement)

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“…At present, the optimization design of parallel manipulator are mainly concentrated on the workspace, dexterity, accuracy, stiffness and bearing capacity etc., the dexterous workspace are the most important kinematics performance index widely used to evaluate the kinematics accuracy. Recently, many scholars have studied on the five degrees of freedom parallel manipulators, such as Wang [3] analyzed the kinematics of a novel 4-SPS-CU parallel manipulator; Chen [4] studied the dexterity of the 4-UPS-UPU parallel manipulator by using the mean and variance, the global stiffness of the 5-UPS-CUU parallel was optimized by Zhang [5]. Kinematics performance on 5-DOF parallel manipulator 4SPS+RPS and 5SPS-UPU was analyzed and isotropic of the mechanism was designed by Lu [6].…”

Section: Introductionmentioning

confidence: 99%

Workspace Performance Investigation of a Multi-DOF Parallel Robot Manipulator

Li¹,

Li²

2019

IJET

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A five degree of freedom (DOF) parallel robot manipulator is proposed in this paper. Kinematics, workspace and dexterity performance of the 5-SPS-UPU parallel robot manipulator were systematically deduced. The proposed mechanism with two rotations and three translations includes the fixed platform, five identical legs, a passive-constrained leg, the moving platform and some joints. First the inverse of kinematics and Jacobian matrix was derived by using the coordinate transformation theory and differentiation method. Second the workspace of the novel robot is analyzed by the boundary search method through the software. A numerical analysis of the variation of posture and position workspace of the robot is presented. Third the dexterity performance of the proposed manipulator has been analyzed, and the best kinematic dexterity is 1.1. The analytic results show that the robot mentioned in this paper has a large effective workspace and dexterity, which can be widely employed in the field of industrial robots.

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Section: Introductionmentioning

confidence: 99%