关键词: 工业机器人技术, 工作空间, 铰点工作空间, 并联机构, Stewart平台

Abstract: The analysis is made on the relationship between the workspace and the dimensional parameters of a hydraulic 6-DOF parallel manipulator. The concept of vertex space on 6-6 Stewart platform is introduced. By the vertex space theory, the expression between the workspace and the dimensional parameters of a 6-DOF parallel manipulator is built up. The study makes it possible to provide reasonable structural parameters directly through calculating the workspace without a large quantity of checking. It not only proves the reasonableness of the 6-DOF parallel manipulator used in practice by simulation but also constructs the reachable position workspace of Stewart platform by the vertex space theory. This method supplies theoretical reference for reasonable selection of structural parameters for Stewart platform and can give the boundary of its workspace. It also seems to open up a feasible method to analyze and synthesize the workspace of parallel manipulator.

Key words: industrial robot technology, workspace, vertex space, parallel manipulator, Stewart platform