Modeling And Simulation Of Kinematics And Dynamics For 3-RRRU Parallel Manipulator

This thesis focuses on 3-RRRU parallel manipulator, after consulting plenty of related articles home and aboard, the kinematics and the dynamics about partly-freedom parallel manipulator can be easily accepted.The rigidity of the manipulator is high, and its carrying capacity also very large, all of these properties made it can fit the requirement of high velocity and high accuracy, it become more and more popular at home and aboard. As a new pattern parallel manipulator, 3-RRRU parallel manipulator can greatly improve the traditional parallel mechanism; the thesis mainly focuses on the kinematics and the dynamics.Unlike the problem about kinematics of series mechanism, inverse kinematics problem of parallel mechanism is easier than the forward kinematics problem. In this paper, Newton-Raphson iteration is adopted to calculate the forward kinematics.This Paper has also studied the singularity configurations and the work space of the 3- RRRU Parallel manipulator.Because of the parallel mechanism dynamics model is a nonlinear, multi-input and multi-output, the system of which is very complicated and coupling. This paper establish a dynamic modeling for 3-RRRU manipulator with Kane Method, including solve velocity, angular velocity; partial velocity, angular partial velocity; generalized active force, generalized inertia force and so on.In additional, a numerical simulation about inverse kinematics problem, angular velocity and inverse dynamics problem is given in this paper.