The Kinematics Analysis Of A Novel Parallel Robot With Asymmetrical Architecture

For developing micro machine tool, this dissertation deals with the conceptualdesign and kinematics performance of a 3-DOF parallel mechanism which hasasymmetrical architecture. With the aid of the theories of parallel mechanismsynthesis, matrices, analytic geometry and architecture, the following work has beencompleted. According to the manner of driving and composing architecture characteristics,the sub-6DOF parallel mechanism has been classified. It is of great significancein the field of parallel mechanism's innovation. Given the configuration analysisof the SKM400 mechanism, a 3-DOF parallel mechanism with asymmetricalarchitecture is invented. As a modified version of SKM400, this novelmechanism has simpler configuration by saving a limb. For kinematical analysis and design, the inverse and forward position analyseshave been formulated. With the aid of vector method, the velocity mapping of the proposed parallelmechanism and SKM400 are analyzed. Furthermore, the proposed mechanism isevaluated and compared with the SKM400 by the condition number of Jacobianmatrix. It has been concluded that the two mechanisms has similar kinematicperformance.The achievements of this dissertation have laid a solid foundation for thetheories, methods and key issues of the kinmatic design of such asymmetrical parallelmechanism.