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Symmetrical Workspace of 6-UPS Parallel Robot Using Tilt and Torsion Angles

Author

Listed:
  • Yanli Liu
  • Hongtao Wu
  • Yuxuan Yang
  • Shangyuan Zou
  • Xuexiang Zhang
  • Yaoyao Wang

Abstract

For the fast and efficient closed-loop real-time feedback control of 6-UPS parallel robot (6-UPS), a novel high efficiency calculation of the workspace is proposed and investigated. As a typical Nearly General Platform (NGP), 6-UPS has good symmetries. The symmetries effectively reduce computational cost and improve computational efficiency in the kinematics, singularity, dynamics, and optimization. To scrupulously demonstrate the symmetries of workspace, a novel algorithm is proposed. The modified Euler angles (T&T angles) are employed to represent the orientation matrix of 6-UPS, the inverse kinematics is analyzed, and the workspace of 6-UPS is obtained using the discretization algorithm. Meanwhile, the symmetries of the total orientation workspace are also proved. Compared with the traditional methods, the total orientation workspace reduces 5/6 computation cost, which means that the corresponding computation efficiency is increased by 6 times. Through theoretical and numerical calculations, the symmetries of the total orientation workspace of 6-UPS are verified. The proof of the symmetries lays a solid foundation for improving the computational efficiency of kinematics, dynamics, and control of 6-UPS.

Suggested Citation

  • Yanli Liu & Hongtao Wu & Yuxuan Yang & Shangyuan Zou & Xuexiang Zhang & Yaoyao Wang, 2018. "Symmetrical Workspace of 6-UPS Parallel Robot Using Tilt and Torsion Angles," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-10, June.
    • Handle: RePEc:hin:jnlmpe:6412030
    DOI: 10.1155/2018/6412030
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