Kinematic Performances of a Novel TLPM Parallel Robot

摘要

This paper investigates the kinematic performances of kinematics, Jacobian, singularity and interferences of a novel six-degree-of freedom (DOF) parallel manipulator. Analytical solutions of the forward position kinematics have been worked out. Three-dimensional Cartesian space generated by a stroke interval from lmin to lmax fulfils the point workspace are illustrated, and the reachable workspaces are obtained. The notion of pure translational Jacobian of constraint matrix is introduced, and two types of conventional singularities are analyzed. Finally, auxiliary vectors are introduced to determine the link interferences, shown that there are two kinds of interferences in the system, one is angle-interference in one limb, and the other is distance-interference in adjacent limbs.