Path Planing And Motor Parameters Of 3-RRRT Parallel Manipulator

This paper researched the 3-RRRT parallel manipulator which has been designed by TianJin University of Technology. We formulated the kinematics of the manipulator according to analysis of the position and posture.On this base, the dynamics model of 3-RRRT parallel manipulator was developed and transfered into state-space model. We have made path planning and motor parameter of 3-RRRT parallel manipulator based on task desire.This paper involve position analyzation, direct and inverse kinematics and dynamics,path planning ,motor parameter.Firstly, the movement properties of the 3-RRRT parallel manipulator 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.We found dynamics model and counted J matrix of 3-RRRT parallel robot.Input Drive torque is solved by d'alembert principle. We analyze different trajectory in working place of 3-RRRT parallel manipulator and find relation between input angular acceleration,torque and different path.We choose right trajectory and moter according to result of path planning. In order to exam the correctness of theory, in the last part of every chapter, we used the simulating software MATLAB, the correctness of theory was done through the way of programming.