| Inverse kinematics solution, Jacobian matrix and Inertia matrix of a 3-RRS parallel robot were deduced in detail, workspace, kinematic and dynamic properties of the 3-RRS parallel robot were studied. The main contents in this paper are as follows:Firstly, based on the coordinate transformation theory and structural constraints of 3-RRS parallel robot, the kinematics model of the parallel robot was established and inverse kinematics solution was deduced. Based on discrete searching method and boundary searching method respectively, the reachable workspace of 3-RRS parallel robot under given conditions was obtained and the volume of the workspace was calculated by MATLAB.Secondly, based on the screw theory, drive Jacobian matrix and constraint Jacobian matrix of 3-RRS parallel robot were deduced respectively, the complete Jabobian matrix of the parallel robot was obtained, the singularity of the parallel robot was studied. Based on the condition number of Jacobian matrix, the dexterity of 3-RRS parallel robot was studied, the distribution law of local dexterity index in the reachable workspace was obtained and the global dexterity index was calculated by MATLAB.Finally, based on Lagrange equation, kinetic energy and potential energy of 3-RRS parallel robot was derived, the dynamic equation of the parallel robot was established. based on dynamics theory, the Inertia matrix of 3-RRS parallel robot was deduced. Based on the singular value of the Inertia matrix, the dynamic isotropy of 3-RRS parallel robot was studied, the distribution law of local dynamic isotropy index in the reachable workspace was obtained and the global dynamic isotropy index was calculated by MATLAB. |
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