The Workspace Analysis of an Improved 6-DOF Parallel Handcontroller

Jing Zhou Song; Guan Ji Wang; Han Xu Sun; Qing Xuan Jia

doi:10.4028/www.scientific.net/AMM.742.567

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 742The Workspace Analysis of an Improved 6-DOF...

The Workspace Analysis of an Improved 6-DOF Parallel Handcontroller

Abstract:

In order to improve the response effectiveness, extend the workspace of parallel manipulator and make it more conveniently to be used in realistic tasks, this paper has introduced an improved mechanism based on the traditional 6-PUS, which applied the rails leaning outside and the linear motor as its driving system. This has optimized the initial parameters of the improved mechanism, and analyzed its workspace in the software Matlab using the method of cylindrical coordinate search. The result has a guiding significance in optimization of traditional parallel manipulators and the manufacturing of the new prototype.

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Periodical:

Applied Mechanics and Materials (Volume 742)

Pages:

567-575

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.742.567

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Online since:

March 2015

Authors:

Jing Zhou Song, Guan Ji Wang, Han Xu Sun, Qing Xuan Jia

Keywords:

6-DOF, Linear Motor, Optimization of Workspace, Parallel Manipulator

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