Research On The Kinematics And Dynamics Of 3-RRRT Parallel Manipulator

In this dissertation, the kinematics and dynamics of 3-RRRT parallel manipulator were studied. The main contents contained:the solution analyses of direct and inverse kinematics of 3-RRRT parallel manipulator, the research on the uncertainty configurations of the mechanism, the study on the inverse dynamics of the manipulator, and the simulations of kinematics and dynamics of 3-RRRT parallel manipulator based on ADAMS.According to the property of the movable platform and the theory of screw, the direct and inverse kinematics of 3-RRRT parallel manipulator were established. The uncertainty configurations of the mechanism were studied. Based on the"instantaneous motion method", the judging matrix of the uncertainty configurations was built, and from it, the uncertainty configurations of the mechanism were acquired and analyzed. By the applying of the screw theory in dynamics, velocities, angular velocities, accelerations and angular accelerations of all parts of the 3-RRRT parallel manipulator were calculated. Based on these work, the inverse dynamics of the 3-RRRT manipulator was established. In the last part of this article, simulations of kinematics and dynamics of 3-RRRT parallel manipulator were studied based on ADAMS.