The Kinematics Simulation of a New Type of 3R Parallel Robot Manipulator

摘要

A new type of 3R parallel robot manipulator (PRM) is constructed by use of the constraint synthesis method of configuration. Kinematics simulation is carried out with ADAMS. Through kinematics calculation, the motion characteristics are analyzed. Through the degrees of freedom calculation, it is confirmed that the PRM can achieve three-dimensional rotation; a coordinate transformation matrix is established, and the positive solutions and the inverse kinematics of position and posture have been got. Through working space simulation, the spatial extent of work of the 3R parallel manipulator has been known. The establishment of Jacobian matrix, the positive solutions and the inverse of movement speed are got. The results show that the PRM has no empty space, and the speed curves are smooth. It has good movement traits and good operability characteristics, and can satisfy the initial design requirements