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Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator

Published online by Cambridge University Press:  23 January 2002

Xin-Jun Liu ,
Jinsong Wang ,
Feng Gao  and
Li-Ping Wang
Xin-Jun Liu
Affiliation:
Manufacturing Engineering Institute, Department of Precision Instruments, Tsinghua University, Beijing, 100084 (P.R. of China)liuxj@post.pim.tsinghua.edu.cn or xinjunl@yahoo.com
Jinsong Wang
Affiliation:
Manufacturing Engineering Institute, Department of Precision Instruments, Tsinghua University, Beijing, 100084 (P.R. of China)
Feng Gao
Affiliation:
Robotics Research Center, Hebei University of Technology, Tianjin, 300130 (P.R. of China).
Li-Ping Wang
Affiliation:
Manufacturing Engineering Institute, Department of Precision Instruments, Tsinghua University, Beijing, 100084 (P.R. of China)
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Abstract

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This paper concerns the issue of mechanism design of a simplified 6-DOF 6-RUS parallel manipulator. The design of robotic mechanisms, especially for 6-DOF parallel manipulators, is an important and challenging problem in the field of robotics. This paper presents a design method for robotic mechanisms, which is based on the physical model of the solution space. The physical model of the solution space, which can transfer a multi-dimensional problem to a two or three-dimensional one, is a useful tool to obtain all kinds of performance atlases. In this paper, the physical model of the solution space for spatial 6-RUS (R stands for revolute joint, U universal joint and S spherical joint) parallel manipulators is established. The atlases of performances, such as workspace and global conditioning index, are plotted in the physical model of the solution space. The atlases are useful for the mechanism design of the 6-RUS parallel manipulators. The technique used in this paper can be applied to the design of other robots.

Keywords

Parallel manipulatorsMechanism designPhysical model of solution spaceWorkspaceGlobal conditioning index
Type
Research Article
Information
Robotica , Volume 20 , Issue 1 , January 2002 , pp. 81 - 91
Copyright
© 2002 Cambridge University Press