CAD Application to the Analysis about the Workspace of an Asymmetric Parallel Robot Influenced by the Joints' Distribution

Abstract

Through varying the joints' distribution, all types of an asymmetric parallel robot, i.e. a 2SPR+UPU robot were derived. From the point of application, 15 typical types were found by computer simulation. CAD dimension driving technique was used to solve the workspace and parameters to describe the positional workspace and pose of the moving platform were defined. Positional workspaces, rotational angle extension of the 15 manipulators were compared, the influence of the joints' distribution to which was analyzed.