A new insight into the geometric models and workspace volume of the 6RSS manipulator by disjunction of the translational and orientation subspaces. (March 2018)

• Record Type: Journal Article
• Authors: Milica, Lucian; Năstase, Alexandru; Andrei, Gabriel
• Is Part Of: Mechanism and machine theory. Volume 121(2018)
• Page Start: 804
• Page End: 828
• Publication Date: 2018-03
• Subjects: Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2017.12.004
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: An investigation tool for the workspace volume of a new parallel manipulator was developed and tested. A new approach consisting of the disjunction of the translational and rotation spaces by separation method was described. A new algorithm for the inverse geometric model was used in order to analyze the translational and orientation subspaces. Reachable workspace and orientation subspace were intuitively represented and a study of the influence of the geometric parameters of the 6RSS manipulator was done. An original software application was developed to test the new method and algorithm. Abstract: A new approach to the geometric model and workspace perception is suggested for the study of the 6R SS manipulator. Following the general method of closing equations of the spatial chains, the direct and inverse geometric models are developed. A rigorous analysis of 6-DOF mechanisms is very difficult to undertake because of the impossibility to represent intuitively spaces with six dimensions. Therefore, the six-dimension space is separated into two spaces with three dimensions, i.e. translations space and rotations space. Using specific algorithms, 2D cross-sections of 6D space and intuitive representations of the workspace are obtained, as required in the early design stage. Finally, three examples of separation method are discussed, in relation with the imposed trajectory of the tool in a certain manufacturing process.