Research On The Theory Of Kinematics Of The 2-RRC-PSS Parallel Manipulator

A novel 3-DOF pure translational parallel manipulator is presented and researched in this paper. Based on adequate analysis of the characteristic of the manipulator, position equations of moving platform's nodes are established. Furthermore, the direct and inverse position equations are pushed over. To do derivation calculus to the parallel manipulator's position equations, we could get the transferring matrix between input velocity and output velocity which is also called Jacobian matrix. The singular configuration based on the Jacobin matrix is analyzed and classified. By the characteristics of the direct position equation, we take the method of direct position mapping to gain the workspace of the parallel manipulator, considering the constrained conditions containing the limit of length of limbs, rotating angle and the interference among limbs, and draw the three dimensional sketch figures. We could get the conditioning index which is regarded as the standard for estimating the transmission performance from Jacobin matrix. This paper does some research on the parallel manipulator's workspace and transmission performance when structure parameters change in range. Synthesizing the partial conditioning index to the global, we use a method that could optimize the global operation performance. Finally, we could get values of each structure parameter when given the requested workspace. Calculation, simulation and drawing are all completed by the Mat lab software.