Jixie chuandong (Dec 2022)
Comparative Analysis of the Workspace of 3-RSS and 3-RUU Coaxial Drive Layout Parallel Robots
Abstract
The three degrees of freedom parallel robot with is simple to control, convenient for design and research and has compact structure. In order to study the influence of parallel robots' joint configuration on the size of workspace, two Tau variant parallel robots, 3-RSS and 3-RUU, are taken as the research objects. Then, the spherical hinge and the Hooke hinge are respectively used for analyzing and solving the workspace of the 3-RSS and 3-RUU coaxial drive layout parallel robots. Firstly, a simplified model of the robot is established, and its forward kinematics is solved. Then, the motion range of spherical hinge and Hooke hinge are analyzed as the constraints of the joint so that the three-dimensional workspace of 3-RSS and 3-RUU coaxial drive layout parallel robots is analyzed so as to obtain the workspace boundary. The analysis results show that the 3-RUU coaxial drive layout parallel robot of the same size has a larger workspace than the 3-RSS coaxial drive layout parallel robot. It provides theoretical and technical support for subsequent research on joint selection and workspace of different parallel robots.
