Workspace Analysis and Design of a 6-DOF Parallel Robot

被引：0
|
作者：
Ciprian, Lapusan [1 ]
Vistrian, Maties [1 ]
Olimpiu, Hancu [1 ]
机构：
[1] Tech Univ Cluj Napoca, Dept Mech Fine Mechanisc & Mechatron, Cluj Napoca, Romania
来源：
PROCEEDINGS OF THE 8TH WSEAS INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN SIGNAL PROCESSING, ROBOTICS AND AUTOMATION | 2009年
关键词：
parallel robot; Matlab; kinematic; 6-UPS; workspace; MANIPULATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a workspace analysis for a six degree of freedom parallel robot is outlined. We propose a numerical approach for determining and evaluating the workspace of the 6-UPS robot. The algorithm uses inverse kinematic and a set of two constraints, covering struts length and joint angles, for computing the workspace. The analysis and algorithm are used as a design tool to select the dimensions and actuators for the robot. A computer application was implemented using Matlab, the program allow to change parameters and to visualize the results of the analysis. A case study is presented, of a six-degree of freedom virtual reality simulation platform design by the author.
引用
收藏
页码：337 / 340
页数：4
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