Study on Envelope Analysis of Workspace Based on 6-UPS Parallel Mechanism

Abstract:

It’s one of the research difficulties of parallel mechanism because of the multi-DOF and complex solution of workspace. Workspace of the 6-UPS parallel mechanism was studied based on the envelope method. It searched the boundary of workspace by three-dimensional research method directly on the premise of satisfying the constraint conditions, which is based on the inverse kinematic. According to the multi-DOF, the orientation space was fixed to simplify the workspace parameters, and searched for the envelope surface of the position space. The relationship that the increasing orientation space leads to the reduction of the position space is reached by researching the position space under different orientation space.

• Periodical: Applied Mechanics and Materials (Volume 703)
• Pages: 312-317
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.703.312
• Online since: December 2014
• Authors: Wang Min Yi, Feng Gao, Qiao Ru Sun, Ai Zhen Ming, Xian Guo Han
• Keywords: Orientation Space, Parallel Mechanism, Position Space, Workspace

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