| Because of the characteristics of high velocity, high rigidity and strong capacity , spatialparallel robot mechanism has been widely tended by more and more people.3RRC is a newtype of spatial parallel robot mechanism, it can realize three dimensional translational motionin the spatial. The following researches have been done to 3RRC parallel mechanism:First, the concrete structure of the robot mechanism was given according to theconfigurative properties of 3RRC parallel mechanism, and its DOF and constrains wereanalyzed by Screw Theory.Second, position equation was built and its forward and inverse solutions were solvedby numerical and graphical methods. Then the work space was gotten by graphics solutions.Third, velocity equation was built and its forward and inverse solutions were computedby numerical method. Then positions of the singularity configuration of the mechanism wereconfirmed through analyzing the first order influence coefficient matrix of the velocity.Fourth, trace planning of 3RRC parallel mechanism was studied based on curvesparameterization theory, and the input functions of the position control were gotten.Finally, the virtual prototype was designed by CAD software and the simulationexperiments were done on it.At last the analysis results before have been verified.Through above analysis and studies, we have had a clear and deeply knowledge of thestructural and kinetic properties of 3RRC parallel robot mechanism ,and this has mad a goodfoundation to make the real prototype of 3RRC parallel robot. |
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