Modeling Of Kinematics And Dynamics For 2-RRC-SPS And 2-RRC-PSS Parallel Manipulators

In this dissertation, two novel 3-DOF translational parallel manipulators (2-RRC-SPS and 2-RRC-PSS) were presented. According to structural features of the two parallel manipulators, we had a research on the kinematics and dynamics of the two manipulators. In the process of the kinematic analysis, combining coordinate analytical method with vector, the kinematic equations of the two parallel manipulators were obtained. According to the kinematic equation, the direct and inverse solutions of position were presented. On the basis of the inverse kinematic analysis, the Jacobian matrix was got by taking the time derivative of the inverse kinematic equation. Based on Jacobian matrix, we can obtain the inverse solutions of velocity.