| Summary: | 碩士 === 大同大學 === 機械工程研究所 === 88 === Parallel robot, compared with traditional serial robot, has high accuracy, high bandwidth, high stiffness, and more loading. In recent years, it was gradually applied in industrial.
The study point of this research is the analysis and the application of parallel robot, Tatung TTUP3D-I. In analysis, we derive the forward kinematics, the inverse kinematics, the Jacobian, and the singularity of the parallel robot. Besides, we will introduce performance indices, and illustrate their meaning. Finally, we will evaluate parallel robot’s performance by using graphs.
In application, we apply parallel robot in telerobotic systems. The experiments of telerobotic system show the workable of parallel robot in remote control. Then we have discussion and suggestion for experiments.
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