Abstract—A five degree of freedom (DOF) parallel robot manipulator is proposed in this paper. Kinematics, workspace and dexterity performance of the 5-SPS-UPU parallel robot manipulator were systematically deduced. The proposed mechanism with two rotations and three translations includes the fixed platform, five identical legs, a passive-constrained leg, the moving platform and some joints. First the inverse of kinematics and Jacobian matrix was derived by using the coordinate transformation theory and differentiation method. Second the workspace of the novel robot is analyzed by the boundary search method through the software. A numerical analysis of the variation of posture and position workspace of the robot is presented. Third the dexterity performance of the proposed manipulator has been analyzed, and the best kinematic dexterity is 1.1. The analytic results show that the robot mentioned in this paper has a large effective workspace and dexterity, which can be widely employed in the field of industrial robots.
Index Terms—Parallel manipulator, kinematics analysis, workspace, dexterity.
Ruixia Li is with the Faculty of Biomedicine Engineering at Changzhi Medical College, Changzhi, Shanxi, China (e-mail: liruixiaczh@126.com).
Fenxia Li is with the Faculty of NC Engineering at Shanxi Institute of Mechanical and Electrical Engineering, Changzhi, Shanxi, China (e-mail:lfx5168@163.com).
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Cite: Ruixia Li and Fenxia Li, "Workspace Performance Investigation of a Multi-DOF Parallel Robot Manipulator," International Journal of Engineering and Technology vol. 11, no. 1, pp. 1-5, 2019.
