Kinematics Research And Simulating On A Novel Parallel Robot Named ROBO₀03

Parallel Robots can be classified according to the number of the DOFs as Full -DOF Parallel Robots (6-DOF) and Unfull-DOF Parallel Robots (1, 2, 3, 4, 5-DOFs). In the past few years, Unfull-DOF Parallel Robots, especially 3-DOF Parallel Robots, became a hot spot in the field of robot technology research. In this dissertation, a novel 3-DOF parallel robot named ROBO₀03 was analyzed, modeled and simulated kinematically.Firstly, an overview to the research history and recent development about parallel robots was presented, followed by a brief introduction about the background of ROBO₀03 parallel robot and its significance for research. Meanwhile, some of the important research achievements and methods ever used are also mentioned.Secondly,a DOF analysis based on the srew theory was given and followed by a complete kinematic research including close-form solutions for direct kinematic problem and numerical solutions for inverse kinematic problem, workspace study based on the solutions to the inverse kinematics,both derivation approach and screw theory for Jacobian analysis of ROBO₀03 parallel robot and analysis on its singularities.Additionally, the statics research and stiffness matrix are inducted using Jacobian matrices.Finally, an effective package called MechanicalSystem embedded in the mathematical software MATHEMATICA 7.0 was applied for modelling and simulating the ROBO₀03 parallel robot, as a test for the former theoretical analysis.This dissertation ended up with a summary of the entire research work and a personal perspective of the ROBO₀03 parallel robot.