Research On The Accuracy Design And Kinematics Parameters Calibration Of 3-RRRT Parallel Manipulator

In this paper, the kinematics of the 3—RRRT parallel manipulator has been studied, and its contents mainly involves as follows:Firstly, this paper has solved the direct and inverse displacement problems of the 3-RRRT parallel manipulator. The D-H method is applied to studying the structure of this manipulator. Position equations are built by analyzing the relationship between the static platform and the moving platform. The direct and inverse displacement problems are solved and the set of roots are found out. 1 direct solution and 8 inverse solutions are got, and is verified the accuracy of the mathematics' model with MATALB and its toolboxes.Secondly, the method for kinematic calibration is investigated based on the measured data using Double-Ball-Bar, the geometric sources error is analyzed, and the error modeling of the 3—RRRT parallel manipulator is built up, then change the error calibration to linear problem. With the establishment of the modeling, the algorithm for identifying the error calibration is given, and the numeric simulation is applied, the possibility of the error calibration is further analyzed. That method also can be used for the identification error parameters of other similar parallel manipulator.Thirdly, the 3—RRRT parallel manipulator modeling is built up by making use of the SolidWorks and SimMechanics in MATLAB, and the kinematics simulation of this kind manipulator is carried on under the environment of SimMechanics, and the trajectory to follow the control is carried on at the same time.