In this paper, the kinematics of the 3-RRRT parallel manipulator has been studied ,and its content mainly covers 4 aspects which are as follows:Firstly, this paper has solved the direct and inverse displacement problems of the 3-RRRT parallel mechanism. 4-dimension matrix and 3-dimension vector methods were applied to studying the structure of this mechanism. Position equations were built by analyzing the relationship between the based platform and the moving platform. The direct and inverse displacement problems were solved and the set of roots were found out. 1 direct solution and 8 inverse solutions were got, and verified their validity by examples in the surroundings of i-deas and matlab and so on. Analytic method was used to analyze the inverse solutions and numeric method was used to analyze the direct solutions.Secondly, this paper has studied the singularity configurations of the 3-RRRT parallel manipulator. 4-dimension matrix method was applied to studying the structure of this mechanism. Based on the instantaneous motion method ,the matrix of the singularity configurations of the parallel manipulator was given. The method of influence coefficient was adopted to gain the Jacobian matrix of this 3-RRRT parallel manipulator. The numeric simulation was applied to the matrix.Thirdly, this paper has solved both the working space and flexible degree of the 3-RRRT parallel mechanism. 4-dimension matrix method was applied to studying the structure of this mechanism. Under the basis of the method, the discrimination of points belonging to working space was given, and the simulation was applied to it; The formula of flexible degree was given and the simulation was applied to it.As an application and a sum-up of the above 3 sections, I simulated the kinematics of this kind of robot by the software of i-deas. |