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3-RRRT transmission performance of parallel robot with integrated scales

Author: XuPeng
Tutor: ZhaoXinHua
School: Tianjin University of Technology
Course: Mechanical and Electronic Engineering
Keywords: Parallel Robot Transmission Performance Scale integrated Inverse position Workspace
CLC: TP242.2
Type: Master's thesis
Year: 2009
Downloads: 146
Quote: 3
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Abstract


In this paper, the 3 - RRRT transmission performance and scale synthesis problems of parallel robot made a more in-depth research. Position through the 3 - RRRT parallel robot kinematics reverse solution analysis, established the speed input, output, equation 3 - RRRT parallel robot, robot jacobian matrix is constructed, and expression of transmission performance evaluation index is obtained. 3 - was determined by the discriminant space point condition, RRRT workspace of parallel robot, using the instantaneous motion analysis, establish the discriminant matrix singular configuration, the singular configuration space, and use MATLAB software to work space and the singular form of the numerical simulation. Whole condition number field to measure, the structure of 3 - RRRT parallel robot parameters affect the performance of the transmission is analyzed, and then combined with the structural parameters on its working space, 3 - RRRT parallel robot for structural parameters optimization design. ADAMS software was used for 3 - RRRT parallel simulation for the kinematics and dynamics of the robot, the kinematics and dynamics of input and output graph, according to the graph analysis to the robot's kinematics and dynamics performance evaluation.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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