A Research On The Work-Space Of Parallel Robot Influenced By The Joints' Distribution

Workspace is the work area of parallel robots, and is an important index of their capability. The factors that influence the size and shape of workspace of parallel robots are their structure, length of links, angles, interference of links and joints distribution. But the influence of joints distribution is always a question for discussion that ignored by people.This paper mostly researches on the relationship between joints distribution and workspace of parallel robots; discusses the topologic joints distribution and geometrical axis distribution that influence the size and shape of workspace of parallel robots. Thereby it provides a gist for the design and application of the parallel robots system.Firstly, this paper expounds four distributions to the joints on the movable platform of a type of plane parallel robot. It analyses the workspace of the robots using polar coordinates search to research the workspace with constant orientation, reachable workspace, dexterous workspace of a parallel robot based on the constraint condition of inverse position analysis and workspace. And also give out the elaborate search arithmetic to simulate them by using MATLAB software.Secondly, the paper expounds four distributions to the distribution and axes of the joints of a kind of space parallel robot. And it analyses the workspace of the four spatial parallel robots. Using polar coordinates search to research the workspace of a parallel robot based on the constraint condition of inverse position analysis and workspace, It analyses the workspace of this type parallel robot based on the simulation results.The researches in the paper indicate that joints distribution of parallel robot has tremendous influence on its workspace that can't be neglect. The shape, size and position of the workspace of parallel robots change along with the different joints distribution. The result in this paper has definite directive significance on the model selection and dimension optimization design of parallel robots. Therefore, it also has important significance to know the characters of parallel robot deeply and promote parallel manipulator science and technology...