Kinematics and Configuration Analysis of 3-RRPRR type Translational Parallel Manipulator

• Main Authors: Chia-Peng Chaing, 江佳朋
• Other Authors: Chung-Ching Lee
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/36568048177335279601

碩士 === 國立高雄應用科技大學 === 模具工程系碩士班 === 96 === This thesis aims to analyze the 3-RRPRR pure translational parallel manipulator (abbreviated as TPM) proposed in Ref. [1]. Comparing with the serial manipulator, 3-RRPRR TPM contains a closed-loop form. It possesses higher rigidity, precision, higher speed and lower inertia; however, its structure is more complicated. In the thesis, we are going to investigate the forward kinematics, inverse kinematics, workspace, singular configuration and potential applications of 3-RRPRR manipulator. In the beginning, the thesis is going to briefly describe 3-RRPRR TPM, which is defined by Denavit & Hartenberg symbolic notations. The link-coordinate relative frames of limb produce the kinematic equations of each limb and verify the 3-dof pure translational spatial movements based on the 4×4 coordinate transformation matrix. Moreover, we further derive the closed-form solutions of inverse kinematics by using matrix algebra and two numerical illustrations with the help of computer-aided simulation tool, Visual Nastran 4D, are provided. The correctness of the derived solutions is confirmed. In the forward kinematics, we apply numerical approach - Newton method to get the useful results. Then, using the geometric method with the three limb-displacement formula derived from forward kinematics yields the workspace of manipulator, which is the intersection of three limbs movement. In the singular configuration analysis, we obtain the Jacobian matrix through the limb equations of motion. In addition, by applying the characteristics of the matrix, we identify and discuss inverse kinematic, direct kinematic and combined singularities in detail. Some illustrations are also proposed for the reference of further applications. Finally, we intend to conduct and organize all outcomes and further present some suggestions and directions for the further research.