关键词: 并联机构, 参数优化, 工作空间分析

Abstract: The inverse kinematics of the 6-RSS parallel mechanism is built. Based on the selection rules on the rotational joint fit corner, spherical joint fit corner and parallel bar interference, which are application-based, the relationships between those restrictions and mechanism parameters are deduced in the mathematic functions, especially for the compound spherical joint. The boundary of the constant- orientation workspace is determined in terms of cons- trained inverse kinematics and 3D boundary search method. Several constant-orientation workspaces are illustrated by MATLAB software. The constrained optimization problem of workspace volume is established to present the effects of parameters on the workspace and to optimize those parameters to obtain the maximal workspace volume, which is increased 1.6 times as much as the original volume.

Key words: Parallel mechanism, Parameters optimization, Workspace analysis