Research On The Optimization Design Of The Structure Parameters For The 3-RRRT Parallel Manipulator

This dissertation is intended to carry out a deep theoretical study on the optimization design of 3-RRRT parallel manipulator.Based on the position analysis of the 3-RRRT parallel manipulator, the input-output equation of the 3-RRRT parallel manipulator has been formulated and Jacobian matrix can be built, from which the expression of local conditioning index can be got. The method based on the global conditioning index was brought up to study the optimization design of the 3-RRRT parallel manipulator. This method can also be taken to the optimization design of other parallel manipulators. According to the global conditioning index, how the structure parameters affect the transmission performance can be studied through MATLAB simulation. And how the structure parameters affect the workspace can be studied too. One or more structure parameters can be changed.How the structure parameters affect the workspace can be studied by means of MATLAB simulation. The workspace was got and analyzed by geometry method.Based on the research above, Given the workspace of the 3-RRRT parallel manipulator, the most appropriate structure parameters can be calculated on the condition of the best transmission performance.