| In this dissertation, the transmission performance of 3-DOF parallel manipulator was studied particularly.This paper involve inverse kinematics position analysis of the 3-DOF parallel manipulator, the analysis of the workspace, the analysis of the singularity and the analysis of the transmission performance, and they were studied based on MATLAB. Inverse kinematic equation of the 3-DOF parallel robot is established based on closed-loop vector way. Every chain has 4 inverse solutions so the robot has 64 inverse solutions in all; The Jacobian matrix was established by the derivative of the transmission equation, and the expression of the transmission quilty parameters could be got; then we got the 3-DOF robots work space by the different points condition method, then simulations of the workspace were studied based on MATLAB;Build on the Jacobian matrix, the forward and inverse singular configuration of the robot is also done; Based on the full condition index, the structure parameters how to affect the transmission quilty was done simulated, and the optimization structure parameters of 3-DOF robots was done by MATLAB software. |
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