The kinematics and workspace analyses of a parallel manipulator formanufacturing

摘要

In this paper, a new type of manipulator for manufacturing basedon Stewart platform is proposed. For the requirement of high accuracyand simple structure, a new scheme of the leg mechanism which is the keycomponent parts in parallel mechanism is presented. As we know, thekinematics of a general parallel Stewart platform is difficult.Furthermore, the kinematics analyses of this manipulator is morecomplicated because of some structural derived motions. So a newalgorithm is represented to solve this problem conveniently and rapidlyeven the structural derived motions are concerned. In the last part ofthis paper, the workspace of the model manipulator is analyzed