.3 - (2sps) Parallel Robot Kinematics Study

Kinematics character study of limited-DOF parallel robot manipulator is a important question of research on the theory and the application of parallel manipulator.According to the engineering practice command of certain military project, architecture design is discussed on a new type parallel manipulator named 3-(2SPS), found the model of the solution. Based on the model of the inverse solution, the paper simulates the movement of the hexapod, analyses change law on the velocity and acceleration of the moveable platform. With the numerical method, by optimized coordinate searching method, a calculation method of the workspace boundary is presented to the workspace analysis and simulation. All the influence parameters on the workspace are discussed in detail. Finally, according to the structure of various parameters,the stability of the parameters workspace was discussed, several factors about the impact of workspace was summed up, the circumstances and the load stability workspace inference, that changes and increased identify additional space for the stability of specific measures.Eventually, some useful conclusions are obtained .The results provide reference conclusion for the design of parallel kinematics equipments.