Singularity Analysis Of3-RRUR Parallel Robot

Because of the configuration of closed chain. The singularity of parallel robot is more complicated than series robot. The singularity can make serious effect on the rigidity and controllable precision of the framework, so the singularity is an important point on the research of parallel robot, and it also need to be considered when the parameters of the configuration are designed.The investigative object is3-RRUR parallel robot, and its singularity is the respect and break point, position analysis, building the Jacobian matrix, the singularity analysis, the workspace analysis are discussed about.First, the reference frame of3-RRUR parallel robot is built and the parameters of the configuration are defined, the inverse kinematics problem model is built by the transfer matrix model, and then the correctness is proved by examples.Second, the Jacobian matrix was built by the differential transform method through the transfer matrixes between the poles. The connection between the position parameters and singularity condition is built through the analysis of the Jacobian matrix, the effect on the singularity from the position parameters is analyzed, and then the singularity condition is confirmed. The effect on the singularity condition from position parameters is displayed by the curved surface charts. The charts can provide basic method for the designing of the parallel robot.Third, the workspace of3-RRUR parallel robot is searched by the numerical search method, and the result is validated in method.