A simulation driven development framework for parallel kinematics

This work presents a novel software tool to design, analyze and simulate parallel robots. It considers any desired constraints, requirements and load scenarios, while being able to be used by non-experts. This is comprehensively shown for one kind of the Gough/Stewart-platform kinematics class. First, the inverse kinematics is derived, which allows for the interactive exploration of the workspace, as well as other properties, prior to building the machine. In addition, the forward kinematics are implemented iteratively. The validation of the simulation is done by presenting a low cost, six degree of freedom robot for laboratory applications, being designed using this framework. Here, both the inverse and forward kinematics are used in real time to allow for precise and correct movement, detailed in-process measurements, such as process loads, along with overload protection. The approach fosters the efficient selection of existing as well as the design of custom robots of this kind.