The Kinematic Analysis Of A Parallel Waist's Joint Based On 4-RRR-RR

Spatial lower-mobility parallel robots have received considerable schola- rs'attention of all the world and have a broad perspective in industry product- ion and other fields for the advantages of their simple manipulator, compact, modularization and low cost. The thesis focuses on kinematics analysis and simulation of the anthropopathic mechanical waist's joint based on the 4-DOF parallel manipulator 4-RRR-RR.The DOF of the 4-RRR-RR parallel waist are given by using the Theory of Screws. Through analyzing the characteristic of its movement, which indi- cates that the spatial 4-DOF parallel manipulator fits to become the anthropo- pathic mechanical waist's joint. The reverse position is given through using the theory of analytic geometry. The forward position is given through combin- ing the reverse position with the matrix of the first order kinematics influence coefficient. The forward and reverse position solutions are validated through using numerical value.Through searching in polar coordinates, the size and the section of work- space can be protracted in condition of the different designing parameters. The influence of the different designing parameters is also analyzed in fix quantify. Jacobian matrix is solved through using kinematics influence coefficient and the hypothesis of kinematics, the kinematics transmission isotropic is described. The mechanism parameters are confirmed according to the kinematics transmission isotropic, workspace volume and assembly conditions, then the anthropopathic mechanical waist's joint of the parallel manipulator 4-RRR-RR is designed. Kinematics simulation is also accomplished.The research of this thesis provides better base on the whole study of the anthropopathic mechanical waist's joint, also gives the theoretical support for the future application.