Modeling and index analysis of the hexaglide type mechanism

Interest in the analysis and application of a parallel robot system is arising in the automation industry. A new type of 3D (three-dimensional) parallel robot arm manipulator with human interface, as well as the parallel motion control of a platform manipulator actuated by three AC servomotors are introduced in this paper. To comprehensively realize the performance of the parallel robot, the forward kinematics, inverse kinematics, Jacobian and singularity are theoretically derived for the application of quantified and graphical performance synthesis tools presented in by Gosselin (1990). In addition, the computer simulation of the parallel robot with MATLAB program is also proposed for the telerobotic system, and the experimental results of the telerobotic system showed good workability in the remote control. Moreover, the discussions and suggestions from the experiments are fully prepared. Through this study, the capability of this parallel robot in its applications as well as its future research and development are thus approached.