Kinematics Analysis and Properties of 3-RRPRR Pure Translational Parallel Manipulators

• Main Authors: Sung-Chuen Shiu, 許淞淳
• Other Authors: Chung-Ching Lee
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/79019251109280013405

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.