| Summary: | 碩士 === 國立海洋大學 === 機械與輪機工程學系 === 89 === The object of this research is to study the topological synthesis, kinematics analysis, singularity analysis, and workspace of a 3-DOF platform mechanism, which is composed by three parallel kinematics chains, moving platform and base. We first select the 3-RPS platform mechanism as the research entity from the result of topological synthesis. Next, we derive the kinematics relationship of links of the parallel platform mechanism and present a systematic method to analyze the forward and inverse kinematics problem. Then, we apply the velocity relationship between prismatic joints and moving platform to obtain the Jacobian matrix, and explain the physical meaning of the singularity according to the characteristic of the Jacobian matrix. Finally, we analyze the workspace of the 3-RPS parallel mechanism, and derive the relationship between the dimensions of links and the size of the workspace, to the gist of finding larger workspace.
|
|---|
