Dynamics Modeling And Simulation Of 3-RRRT Parallel Manipulator

In this dissertation, the kinematics and dynamics of the 3-RRRT parallel manipulator were studied. The main contents contained: the solution analyses of displacement and kinematics of the 3-RRRT parallel manipulator, the study and simulation on the dynamics of the 3-RRRT parallel manipulator.According to the property of the 3-RRRT parallel manipulator, the inverse kinematics of the 3-RRRT parallel manipulator was established, the velocities, angular velocities of all parts of the 3-RRRT parallel manipulator were calculated. Based on the "Lagrange equation method", the inverse dynamics of the 3-RRRT parallel manipulator was established. In the last part of this article, in order to carry on kinematics and dynamics simulation, the prototype of the manipulator was created by using the three-dimensional parameter software UG and exported to the software ADAMS through the interface between UG and ADAMS softwares. By the applying of ADAMS, the kinematics and dynamics were calculated. The velocities, angular velocities, accelerations, angular accelerations and torques of all parts of the 3-RRRT parallel manipulator were calculated.