Analysis and Optimization of the Aensitivity of the Workspace of an Offset Hinge Parallel Mechanism
In order to solve the problem that the workspace of parallel mechanisms with offset hinges is dif-ficult to evaluate and design intuitively,A sensitivity analysis of its workspace based on configuration pa-rameters and a workspace optimisation method is proposed. First,taking the 6-RRRPRR configuration paral-lel mechanism as a research object,the inverse kinematics of the mechanism and the Jacobi matrix are de-rived. Then,the effective workspace of the mechanism is established based on the numerical method,the ef-fective workspace of the position was obtained for the problem of irregularity of its workspace. On this ba-sis,a parametric sensitivity analysis of the workspace of the mechanism was carried out. Finally,a work-space optimisation method is proposed with engineering examples. It is easy to find a combination of con-figuration parameters that meets the movement requirements of the mechanism according to the design con-ditions,which is convenient for engineering applications.
万方数据
维普
