Research On The Transmission Performance And Synthesis Of Spatial Of 3-RRRT Parallel Manipulator

In this dissertation, the transmission performance and dimensional synthesis of 3-RRRT parallel manipulator was studied.Based on the inverse kinematics position analysis of the 3-RRRT parallel manipulator, the input-output velocity equation of the 3-RRRT parallel manipulator was formulated, then the Jacobian matrix was established, from which the expression of the transmission performance index could be obtained. Ascertained the workspace of the 3-RRRT parallel manipulator through condition differentiation of the points, based on the"instantaneous motion method", built the judging matrix of the uncertainty configurations, and from which, the uncertainty configurations of the mechanism were acquired and analyzed, then simulations of the workspace and the uncertainty configurations of the mechanism were studied based on MATLAB. According to the global conditioning index, how the structure parameters affect the transmission performance was analyzed, in company with the affecting of the structure parameters to the workspace, the optimization of the structure parameters of 3-RRRT parallel manipulator was done. Based on these work, the inverse dynamics of the 3-RRRT parallel manipulator was established. In the last part of this article, the simulations of kinematics and dynamics of 3-RRRT parallel manipulator were studied by ADAMS, some kinematics and dynamics graphs were acquired, based on which, the evaluation of the kinematics and dynamics performance could be given.