NDLI: Kinematics and workspace analysis for a novel 6-PSS parallel manipulator

Content Provider	IEEE Xplore Digital Library
Author	Weiyuan Xu Yangmin Li Xiao Xiao
Copyright Year	2013
Description	Author affiliation: Dept. of Electromech. Eng., Univ. of Macau, Taipa, China (Weiyuan Xu; Yangmin Li; Xiao Xiao)
Abstract	In this paper, a novel 6-PSS parallel manipulator is designed and the three dimensional structure model is obtained with the Solidworks. The inverse kinematics analysis is performed based on the designed geometric parameters. And according to this analysis, we obtain the theoretical simulation results of virtual structures with different positions and orientations by using MATLAB software. These simulation structures verify the feasibility of this novel 6-PSS parallel manipulator. With a given orientation, a numerical search method is adopted in finding the reachable workspace with the judgment conditions of physical constraints, and the relationship between the reachable workspace and the size of the structure is studied in virtual simulation. Therefore, the range including the largest reachable workspace is achieved and a possible further application of this novel 6-PSS parallel manipulator is proposed, especially in some fields of different structure size requirements.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1869
Ending Page	1874
File Size	550932
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739740
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Kinematics Vectors Joints Mathematical model Equations Actuators Workspace 6-PSS Parallel Robot
Content Type	Text
Resource Type	Article

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