6-PSS并联机器人操作机平动工作空间解析

CLOSED FORM SOLUTION TO TRANSLATIONAL WORKSPACE OF 6-PSS PARALLEL MANIPULATORS

提出一种求解 6- PSS并联机器人操作机平动工作空间边界的解析方法 .该方法将平动工作空间问题归结为三类子空间边界求交问题 ,即分别由六张球面片交集构成的上、下边界与由六张椭圆柱面交集构成的侧面边界的求交问题 .文中还提出主工作空间的概念和相应的解析表达及工作空间评价指标 。

The method to formulate the closed form solution to the translational workspace boundary of 6 PSS parallel manipulators is propos. With a understanding of the kinematic characteristics of the manipulator, the workspace boundary as a whole is formulated as the intersection of three subsets, i.e. two subsets produced by the intersection of six spherical surfaces, and one subset produced by the intersection of six elliptical cylindrical surfaces. The primary workspace is also defined and the influence of the structural parameters on such workspace is discussed.