Kinematics and workspace analysis for a novel 6-PSS parallel manipulator

In this paper, a novel 6-PSS parallel manipulator is designed and the three dimensional structure model is obtained with the Solidworks. The inverse kinematics analysis is performed based on the designed geometric parameters. And according to this analysis, we obtain the theoretical simulation results of virtual structures with different positions and orientations by using MATLAB software. These simulation structures verify the feasibility of this novel 6-PSS parallel manipulator. With a given orientation, a numerical search method is adopted in finding the reachable workspace with the judgment conditions of physical constraints, and the relationship between the reachable workspace and the size of the structure is studied in virtual simulation. Therefore, the range including the largest reachable workspace is achieved and a possible further application of this novel 6-PSS parallel manipulator is proposed, especially in some fields of different structure size requirements.