| In this paper, the kinematics of the 3-RRRT parallel manipulator has been studied, we formulated the kinematics of the manipulator according to analysis of the position and posture. The main contents contained: The solution analysis of direct and inverse kinematics of the 3-RRRT parallel robot with three translational degrees of freedom, research on the singularity loci of the mechanism, study on the workspace of the robot, and verified their validity by examples in the surroundings of matlab and so on.Firstly, the movement properties of the 3-RRRT parallel manipulator were analyzed, according to its model of geometry, inverse kinematic equation of the 3-RRRT translational parallel robot is established by using closed-loop vector method. Each leg has 4 inverse solutions and the manipulator has 64 inverse solutions in all. The forward displacement analysis is performed by using a numerical method. Secondly, this paper has solved both the working space and flexible degree of the 3-RRRT parallel mechanism. Under the basis of the method, the discrimination of points belonging to working space was given, and the simulation was applied to it. |
PDF Full Text Request