Workspace Analysis of a Three Degrees of Freedom Parallel Robot

摘要

In the last decades, the technological progress and especially the industrial robotics development has practically led to the appearance of a new robots generation based on the closed-loop kinematical chains, namely parallel robots. The parallel robots can provide the complementary solution for the serial classical robots due to their higher positioning accuracy, higher speeds for the overall displacement and very good dynamic behavior. Considering the higher dynamics and the heavy loads that can be manipulated in a rather small operational space, the description of the working space, and the real position of the end-effectors reference point presents special interest due to the problems that are arising in the calculus and modeling of the parallel robots behavior. In the present paper, a method is presented that generates the graphical visualization and the analysis elements for a defined parallel robot working space. The latest results obtained demonstrate that from the kinematical model and graphical simulation the implemented algorithm offers a high degree of generality. The calculation time, necessary for the generating of working space is relatively small