A DIMENSIONAL DESIGN PROBLEM OF A PARALLEL MANIPULATOR FOR THE SPACE DOCKING TEST SYSTEM ACCORDING TO A PRESCRIBED WORKSPACE AND PERFORMANCE INDICES

摘要

This paper introduces a new 6DOF parallel manipulator with a '3-3'-PSS structure for the space docking test system. The objective of the paper is to present a design method for determine the geometrical parameters of the 6-DOF manipulator according to a prescribed workspace and required performances. By the study of the relationships between the geometrical parameters and the performance indices of the manipulator, a new method is presented for finding all the appropriate parameters on the contour maps of the performance indices. With this method, the smallest manipulator whose workspace involves the prescribed workspace and whose performances fit the requirements could be found.