A STUDY OF THE 8-UPS PARALLEL MANIPULATOR'S EFFICACY

Abstract

When doing research and designing parallel manipulators, evaluating their performance is a top priority. The manipulators' efficiency is evaluated based on properties like manipulability and minimal singular value. By using the performance indices, the singularity and its surrounding configurations are eradicated. This study examines the 8-UPS spatial parallel manipulator and finds its performance indices for various architectures, including condition number, manipulability, and minimal singular value. The best way to set up the manipulator is decided upon by looking at the performance indicators. The analysis is carried out using MATLAB code that is written. The findings are shown visually.