Research on the Workspace of 3-PCR Translational Sorting Parallel Robot Based on Geometrical Method

SHANG Ji-zhong; CHEN An-jun

SHANG Ji-zhong, CHEN An-jun

Packaging Engineering ›› 2011 ›› Issue (17) : 80-83.

Research on the Workspace of 3-PCR Translational Sorting Parallel Robot Based on Geometrical Method

SHANG Ji-zhong, CHEN An-jun

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Abstract

The kinematical equation of a 3-PCR parallel robot was analyzed in geometrical method. With certain parameters specified, the corresponding workspace was drawn out with a 3D software INVENTOR. By analyzing workspace of each limb, the faces and lines of the workspace boundary was determined and then the singularity of the workspace was discussed.

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SHANG Ji-zhong, CHEN An-jun. Research on the Workspace of 3-PCR Translational Sorting Parallel Robot Based on Geometrical Method[J]. Packaging Engineering. 2011(17): 80-83