【作者】 杨玉维；

【导师】 赵新华；

【作者基本信息】 天津理工大学 ， 机械电子工程， 2005， 硕士

【摘要】 本文对3-RRRT并联机器人运动学理论作了比较深入的理论研究。主要涵盖以下4个方面：1．运用了齐次坐标系法和空间矢量法对3-RRRT并联机器人机构进行了分析，用解析的方法给出了该并联机器人的8组位置反解，采用数值方法给出了该并联机器人的位置正解。并基于I-deas系统下的实体模型，应用MATLAB语言及其优化工具箱，实例验证了该数学模型的正确性。2．采用瞬时速度法，给出了该并联机器人的奇异判别矩阵，采用数值的方法绘制了该机器人的奇异位形空间并分析了其分布规律；采用运动影响系数法给出了该并联机器人的Jacobian逆矩阵，并进行了数值仿真并分析了其分布规律。3．研究和分析3-RRRT并联机器人的工作空间和灵巧度。给出属于工作空间点的判别条件，并进行了数值仿真并分析了其分布规律；给出了3-RRRT并联机器人灵巧度的计算公式，并进行了数值仿真，并分析其分布规律。4．作为对上述3个部分的总结与应用，在I-deas环境下对3-RRRT并联机器人进行了运动学的动态仿真。更多还原

【Abstract】 In this paper, the kinematics of the 3-RRRT parallel manipulator has been studied ,and its content mainly covers 4 aspects which are as follows:Firstly, this paper has solved the direct and inverse displacement problems of the 3-RRRT parallel mechanism. 4-dimension matrix and 3-dimension vector methods were applied to studying the structure of this mechanism. Position equations were built by analyzing the relationship between the based platform and the moving platform. The direct and inverse displacement problems were solved and the set of roots were found out. 1 direct solution and 8 inverse solutions were got, and verified their validity by examples in the surroundings of i-deas and matlab and so on. Analytic method was used to analyze the inverse solutions and numeric method was used to analyze the direct solutions.Secondly, this paper has studied the singularity configurations of the 3-RRRT parallel manipulator. 4-dimension matrix method was applied to studying the structure of this mechanism. Based on the instantaneous motion method ,the matrix of the singularity configurations of the parallel manipulator was given. The method of influence coefficient was adopted to gain the Jacobian matrix of this 3-RRRT parallel manipulator. The numeric simulation was applied to the matrix.Thirdly, this paper has solved both the working space and flexible degree of the 3-RRRT parallel mechanism. 4-dimension matrix method was applied to studying the structure of this mechanism. Under the basis of the method, the discrimination of points belonging to working space was given, and the simulation was applied to it; The formula of flexible degree was given and the simulation was applied to it.As an application and a sum-up of the above 3 sections, I simulated the kinematics of this kind of robot by the software of i-deas.更多还原