Research On The Kinematics Of 3-RTT Parallel Robot

In this article, the kinematics of 3-RTT parallel robot was studied. The main contents have: the solution analysis of direct and inverse kinematics of the manipulator, research on the singularity loci of the mechanism, study on the workspace of the robot, and the optimization of structure parameters based on the transmission performance.Firstly, the movement properties of the 3-RTT parallel robot were analyzed, and according to the building of position equations, solutions of the direct and inverse kinematics of the manipulator were formulated. The geometrical meanings of the solutions were studied.Secondly, the singularity loci of the mechanism were studied. Based on the"instantaneous motion method", the judging matrix of singularity was built, and from it, the singularity loci of the mechanism was acquired and analyzed. Through the linear relativity theory, the input condition and geometry characteristics of the mechanism while singularity occurred were studied.Thirdly, the workspace of the robot was get and analyzed by geometry method.Finally, through the predigestion workspace of the robot, the structure parameters of the manipulator were optimized for the maximum of the global conditioning index.