Geometric Parameter Optimization of a Novel 3-(PP(2-(UPS))) Redundant Parallel Mechanism based on Workspace Determination

TL;DR

This paper introduces a new redundant parallel robot design and analyzes how its geometric parameters affect workspace size, shape, and orientation capabilities, aiding in optimization.

Contribution

It proposes a novel 3-(PP(2-(UPS))) mechanism and investigates its geometric parameter effects on workspace and orientation performance.

Findings

Workspace volume and shape are significantly influenced by geometric parameters.

Torsional and tilting capability indices effectively evaluate orientation performance.

Numerical simulations provide essential references for parameter optimization.

Abstract

Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric parameter optimization are still quite challenging. This paper proposes a novel 3-(PP(2-(UPS))) redundant parallel mechanism, with good generalizability first, and further investigates the kinematic optimization issue by analyzing and investigating how its key geometric parameters influence the volume, shape, boundary completeness, and orientation capabilities of its workspace. The torsional capability index TI_1 and tilting capability index TI_2 are defined to evaluate the orientation performance of the mechanism. Numerical simulation studies are completed to indicate the analysis, providing reasonable but essential references for the parameter optimization of 3-(PP(2-(UPS))) and other similar redundant parallel mechanisms.