Research On Workspace Of 3-dof Parallel Manipulator

In this dissertation, a new3-RRRT parallel manipulator was studied through MATLAB simulation in many fields, such as anti-solution, workspace and dimensional synthesis. The details are as follows:The freedom of the new type of 3-RRRT parallel manipulator was analysed, and a position equation with space-vector method established to solve and analysis of anti-solution. According to condition differentiation of the points, cquired the working space, a variety analysis of cross-section and A Numerical Simulation of the working space with MATLAB, lay the foundation for dimensional synthesis. Based on the inverse kinematics position analysis, 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. According to the global conditioning index, the optimization of the structure parameters of 3-RRRT parallel manipulator was done.