Papers by Keyword: Working Space Analysis

Abstract: The working space of manipulator is an important dynamic index. Based on Monte-Carlo method, working space of the 6-DOF (degrees of freedom) underwater manipulator is analyzed in this paper. The virtual prototype of the manipulator is established. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator’s working space is bigger and has obtained better effect, which can meet the 6-DOF underwater manipulator operational requirements. The results provide an important reference for the 6-DOF underwater manipulator body design and trajectory planning.

Abstract: In order to meet the needs of changing positions and orientations in large-scale product testing and large workpiece operating, such as machining, welding and spraying, this paper presents a planar decoupled parallel manipulator driven by three sliders. This simple but practical mechanism is capable of realizing a large workspace. The direct and inverse kinematical solutions are derived. The working spaces of the end operator are carried out when it is in given positions and given orientations. The simulation demonstrates that all kinds of straight lines and circles can be realized by the end operator of the mechanism, which the corresponding motion disciplines and characteristics of the three sliders are also obtained. Last, the virtual prototype of the manipulator is given. The paper lays the foundation for the manufacture, the real-time control and industrial application of the 3-DOF parallel manipulator.