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Research on the Theory of Kinematics of the 2-RRC-PSS Parallel Manipulator

Author: HanLin
Tutor: ZhaoXinHua
School: Tianjin University of Technology
Course: Mechanical and Electronic Engineering
Keywords: Parallel Robot Position analysis Singular position Workspace Transmission performance Scale integrated
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 137
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Abstract


This paper presents a new three - translational parallel institutions , and the institutions for the study . , The establishment of a full analysis of the structural features of the parallel mechanism based on the equation of the location of each node of the moving platform , solving equations to deduce its position both positive and negative . Kinematics equation derivation of time to obtain the relationship between the the agency input speed the end of the output speed transfer matrix that robot Jacobian matrix . Jacobian matrix , the singularity of the parallel mechanism , and classification . Positional forward solution characteristics , Position demapping calculating the robot work space , and each rod length constraint , the corner constraint , rod interference constraint considerations including , draw out a schematic three-dimensional view of a workspace . Deduced by the Jacobian matrix the robot condition number , the condition number of indicators to measure the performance of the robot drive , the study analyzed the impact of the structural parameters change the robot drive performance and work space . Indicators of the local dexterity comprehensive global performance , the use of a global consolidated operating performance near-optimal scale can be an integrated approach to the structural parameter values ??given design space . Using MATLAB tool for the calculation of this article , simulation , graphics work .

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