2006•Jisuanji fangzhenRequires access

Direct Kinematics Solution of a 3-RRRT Parallel Robot

Yanbin Liu, Han Xiu-ying

Abstract

Direct kinematics solution method of 3-RRRT parallel robot was researched.According to mechanism character and joint motion range of 3-RRRT parallel robot,the paper put forward a method which took the supporting bar orientation cosine and motion platform absolute station coordinates of 3-RRRT parallel robot as system's generalized coordinates,and kinematics model of 3-RRRT parallel robot was set up,restrict equations with three drive joint coordinates and three station coordinates of motion platform were got.It is adaptive to direct and inverse kinematics solution.Then MATLAB iterative solution program based on Moore-Penrose pseudo inverse was worked out.Direct kinematics numerical simulation of 3-RRRT parallel robot was done by using MATLAB software.It proved that the direct kinematics solution method and program of 3-RRRT parallel robot presented are effective and rapid.

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Available abstract

Key concepts: Inverse kinematics, Robot kinematics, Kinematics, Generalized coordinates, Parallel manipulator, Kinematics equations, Forward kinematics, Computer science