Analysis of the Influence of Structure Parameters of Six Degree of Freedom Parallel Robot Workspace

Abstract

The structure parameters of the robot directly affects its workspace, in order to get the relationship between the structure parameters of the robot and the size of workspace, an evaluation standards of the size of workspace is presented based on the mechanism of the center height. This paper proposes an novel 2URS&UPS parallel robot, it has Six degree of freedom. By using the sphere coordinate searching method, through the MTLAB programming calculated the influence of structural parameters on the workspace. Analysis results show that the parallel robot has the maximum workspace, when the static platform radius is 140mm and the moving platform radius is 120 mm, the rod length is 160mm. The study showed the parallel robot has advantage of a large workspace and symmetry. The parallel robot can be used for walking leg, mechanism arm, etc. The paper provide a theoretical basis for design of the parallel robot.