Analysis And Design On The Underactuation Of 6-RSS Parallel Mechanism

Underactuation are applied at bionic robot, space robot and others research fields extensively, provided with simple and compact structure, low cost, effective motion and so on. In this dissertation, a new underactuation based on 6-RSS parallel robot's motion track is applied, and studied in many fields, such as structure, kinematics.1. Drive the inverse position equation of 6-RSS parallel robot. Based on the differentiation to the inverse position equation, we get the analytic expression of the inverse jacobian matrix, the expression is the foundation of the research in many performance indexes.2. Based on the inverse position equation and the jacobian matrix, the solution of direct position is obtained through the numerical iteration method.3. RSSR mechanism is used in underactuation, and its kinematics is analyzed detailedly.4. A predigested underactuation and its design method are presented based on 6-RSS parallel robot.5. The kinematics of 6-RSS parallel robot and its underactuation are simulated in UG software, and the simulation results are showed in the way of animation.