RESEARCH ON THE BRANCHES' INTERFERENCE OF 6-DOF PARALLEL MANIPULATOR

摘要

In this paper, the branches' interference problem of 6-DOF parallel manipulator that is concerned with in workspace is discussed in detail. To analysis branched chain interference problem with spiral vector is presented at the first time here. This method is not only visual and vivid, but also makes physical meaning clear. At the same time, this method makes the calculation simple and real-time performance superior. So this method has surmounted the defect of traditional methods and it is a kind of more practical method in actual application. Additionally this paper has also elaborated the branches' interference condition of the 6-DOF parallel manipulator during the platform doing tanslation or turn, and has put forward the method of judging and detecting the condition of interference. In the end this paper reach some meaningful conclusions.