Modeling Of Kinematics And Dynamics For 3-RRRT Parallel Robot

This dissertation addresses the analysis of kinematics, singularities and inverse dynamics of a 3-RRRT parallel robot with three translational degrees of freedom. According to its model of geometry, inverse kinematic equation of the 3-RRRT translational parallel robot is established by using closed-loop vector method. Each leg has 4 inverse solutions and the manipulator has 64 inverse solutions in all. The forward displacement analysis is performed by using a numerical method. Based on the inverse kinematic analysis, the Jacobian matrix is obtained by taking the time derivative of the inverse kinematic equation. Based on the Jacobian matrix, the forward and inverse singular configuration of the manipulator is also studied. Using the same method, link Jacobian matrix for the manipulator is derived. Based on the Jacobian matrix and the link Jacobian matrix, the angular velocity of each revolute of the manipulator is analyzed. Subsequently, taking the derivative of the Jacobian matrix and link Jacobian matrix equations with respect to time, the angular acceleration analysis of each revolute of the manipulator is developed as well. According to the analysis, the inverse dynamics of the manipulator based on the Lagrangian multiplier is developed. All simulation results in this dissertation are performed by using MATLAB software.