Based on the obtained distribution charts of the singularity and workspace shape and the atlas, one can know the singularity and workspace performances of any one of the 5R symmetrical parallel mechanisms.
The goal is to simulate a virtual laboratory, based on cooperative computing substrate, that integrally supports a shared workspace, high performance computing, distributed data management, as well as graphical scientific communication.
The paper deals with the workspace and dynamic performance evaluation of the PRR PRR parallel manipulator in spray-painting equipment.
The comparison results show that the redundant PTH has several notable advantages over the non-redundant one, including enlarged singularity-free workspace, improved dexterity performance and higher stiffness.
Based on those, maximum singularity-free workspace and kinematics performance based criteria are applied in optimizing basic mechanism parameters considering input and passive joint limitations.
The two types of PTHs, the redundant form and the non-redundant one, are then fully compared with each other in terms of singularity distribution, workspace shape, kinematic performance and stiffness behavior.
Workspace and dynamic performances of the four working modes are compared and the optimal working mode for the painting of a large object with conical surface is determined.
Furthermore, the link dimensions of the robot are optimized by considering motion/force transmissibility and practical limits to generate singularity-free and high-performance workspace around the incision point.
Finally, the workspace with good dynamic performance is discussed.
A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices.
