Topological Structure Synthesis And Position Analysis Of 3-DOF Translational Parallel Manipulator

The topological structure and degree of freedom of the single opened chain (SOC) wereintroduced, and its output motion characteristic matrix was studied in the paper. The essentialcondition about the output motion of the 3-DOF translational parallel manipulator wassummarized.Computer aided topological structure synthesis of parallel manipulator has beenprovided and applied through analyzing the topological structure synthesis of parallelmanipulator and the synthesis process of 3-DOF translational parallel manipulator. Based ondeeply studied the position analysis, the universal grammar to resolve the position of 3-PUUtranslational parallel manipulator was built.First, the topological structure of the single opened chain was studied, which was thebase of research on the topological structure synthesis of parallel manipulator. A new methodhas been put forward to calculate the degree of freedom of terminal link about serial robot byapplied screw theory to the output motion of the SOC .Second, the essential condition about the output motion of the 3-DOF translationalparallel manipulator was summarized.Third, in the several topological structure synthesis methods, two methods whichrespectively based on the kinematic constraint of the screw theory and kinematic synthesis ofthe SOC have been analyzed, and the topological structure synthesis of 3-DOF translationalparallel manipulator has been given more detailed study.Fourth, in accordance with the topological structure synthesis methods of parallelmanipulator, Computer aided topological structure synthesis was raised. The thinking of howto actualize has been illuminated more clearly,and some fundamental researches have beendone,take P joint, R joint and C joint for instance, the process for the topological structuresynthesis of 3-DOF translational parallel manipulator has been shown.Fifth, different ways have been used to analyze the position of different 3-DOFtranslational parallel manipulators. It has also put forward an effective new method toresolve the position of 3-PUU translational parallel manipulator by using the conversion ofcoordinates and projection in analytic geometry, and the position is simulated and verified byMATLAB.