3-PRRU并联机器人位置反解和奇异位形的研究

Study on the inverse position and the singularity of the 3-PRRU parallel manipulator

针对一种新型机构3自由度3-PRRU并联机器人,应用Denavit-Hartenberg(D-H)方法建立了该机构的运动学方程,得出理论上具有64组位置反解的结论,采用matlab软件对反解进行了数值仿真.最后用雅可比矩阵行列式获得奇异位形条件方程,对此并联机构的奇异问题进行了分析.

Using the Denavit-Hartenberg method,the kinematic equations are established for a new kind of three-DOF 3-PRRU parallel manipulator.the 64 Groups of the inverse position of the manipulator is obtained according to the inverse kinematics equations and numerical example is given with matlab.Through the Jacobian determinant,the singularity condition equations are gained and analyzed.