A Study on the Orientation Workspace of 3-chain 6-DOF Parallel Manipulators

• Main Authors: Jyun-Hong Chen, 陳俊宏
• Other Authors: Kao-Yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/60058327202775867455

碩士 === 國立臺灣科技大學 === 機械工程系 === 97 === A 6-chain 6-DOF parallel manipulator has very good rigidity, but its workspace is much smaller than that of a serial manipulator. The workspace of a 6-chain parallel manipulator can be approximated by the intersection of the workspaces of six serial manipulators, so a larger workspace can be expected for parallel manipulators with fewer kinematic chains that are driven by two or more actuators. This thesis studies the orientation workspace of 3-chain 6-DOF parallel manipulators. Several algorithms are presented to develop the boundaries of the orientation workspace of 3-PRPS or 3-PPSR parallel manipulators. The boundary surface can be obtained by solving quadratics developed from related kinematic constraints of actuated or passive joints, and the rotatability of the platform can be evaluated by the volume of the region within the boundary surfaces. Some numerical examples are presented for illustration.