Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators
碩士 === 國立高雄應用科技大學 === 模具工程系 === 97 === 3-RRPRR pure translational parallel manipulator (abbreviated as 3-RRPRR TPM) is a kind of pure translational parallel mechanisms proposed in ref. [1]. This kind of TPM includes a special 3-RRPRR and a 3-UPU TPMs. This paper focuses on the verification of pure t...
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ndltd-TW-097KUAS87670282017-06-09T04:37:50Z http://ndltd.ncl.edu.tw/handle/79019251109280013405 Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators 3-RRPRR型純平移並聯式機器人之運動分析及特性 Sung-Chuen Shiu 許淞淳 碩士 國立高雄應用科技大學 模具工程系 97 3-RRPRR pure translational parallel manipulator (abbreviated as 3-RRPRR TPM) is a kind of pure translational parallel mechanisms proposed in ref. [1]. This kind of TPM includes a special 3-RRPRR and a 3-UPU TPMs. This paper focuses on the verification of pure translational motion, inverse kinematics analysis[2], workspace, singular configuration and performance index of this kind of TPM. Defining link relative coordinate systems by D-H notation and applying the coordinate-transformation matrix fundamentals, we derive the end-effector displacement equations of manipulators. The pure translation is definitely verified. Then we establish the analytical closed-form solutions for inverse kinematics by matrix method, then do forward kinematics analysis. The correctness and validity of results are also confirmed by computer animation software.For workspace of the manipulator, used end-effector displacement equations to draw the workspace of each limb, verification and analysis of the workspace by geometry, investigate the impact on the workspace with the variation of architecture parameters. Used Jacobian matrix to found the inverse kinematic singularity, direct kinematic singularity and combined singularity. Focuses on the performance index of 3-UPU TPM, the performance index include manipulability, condition number, global conditioning index, velocity performance analysis, pay load performance analysis. Finally, we propose some suggestions for further investigations of 3-RRPRR TPMs. Chung-Ching Lee 李聰慶 2009 學位論文 ; thesis 101 zh-TW |
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碩士 === 國立高雄應用科技大學 === 模具工程系 === 97 === 3-RRPRR pure translational parallel manipulator (abbreviated as 3-RRPRR TPM) is a kind of pure translational parallel mechanisms proposed in ref. [1]. This kind of TPM includes a special 3-RRPRR and a 3-UPU TPMs. This paper focuses on the verification of pure translational motion, inverse kinematics analysis[2], workspace, singular configuration and performance index of this kind of TPM.
Defining link relative coordinate systems by D-H notation and applying the coordinate-transformation matrix fundamentals, we derive the end-effector displacement equations of manipulators. The pure translation is definitely verified. Then we establish the analytical closed-form solutions for inverse kinematics by matrix method, then do forward kinematics analysis. The correctness and validity of results are also confirmed by computer animation software.For workspace of the manipulator, used end-effector displacement equations to draw the workspace of each limb, verification and analysis of the workspace by geometry, investigate the impact on the workspace with the variation of architecture parameters. Used Jacobian matrix to found the inverse kinematic singularity, direct kinematic singularity and combined singularity. Focuses on the performance index of 3-UPU TPM, the performance index include manipulability, condition number, global conditioning index, velocity performance analysis, pay load performance analysis. Finally, we propose some suggestions for further investigations of 3-RRPRR TPMs.
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author2 |
Chung-Ching Lee |
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Chung-Ching Lee Sung-Chuen Shiu 許淞淳 |
author |
Sung-Chuen Shiu 許淞淳 |
spellingShingle |
Sung-Chuen Shiu 許淞淳 Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators |
author_sort |
Sung-Chuen Shiu |
title |
Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators |
title_short |
Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators |
title_full |
Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators |
title_fullStr |
Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators |
title_full_unstemmed |
Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators |
title_sort |
kinematics analysis and properties of 3-rrprr pure translational parallel manipulators |
publishDate |
2009 |
url |
http://ndltd.ncl.edu.tw/handle/79019251109280013405 |
work_keys_str_mv |
AT sungchuenshiu kinematicsanalysisandpropertiesof3rrprrpuretranslationalparallelmanipulators AT xǔsōngchún kinematicsanalysisandpropertiesof3rrprrpuretranslationalparallelmanipulators AT sungchuenshiu 3rrprrxíngchúnpíngyíbìngliánshìjīqìrénzhīyùndòngfēnxījítèxìng AT xǔsōngchún 3rrprrxíngchúnpíngyíbìngliánshìjīqìrénzhīyùndòngfēnxījítèxìng |
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