Dexterity Analysis of 3-RCR Parallel Robot Mechanism

Hai Zhen Chen; Zhong Yue Zou; Hong Peng Song

doi:10.4028/www.scientific.net/KEM.464.129

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Dexterity Analysis of 3-RCR Parallel Robot Mechanism

Abstract:

Based on forward position equations of 3-RCR parallel mechanism, the Jacobian matrixes were obtained. The global condition index was gotten based on the Jacobian matrix. According to the global condition index and the polar coordinates boundary searching method, using MATLAB software, the dexterity atlases of the mechanism were gotten. Finally, the dexterity was analyzed. The research can provide theory foundation for study and application of parallel mechanism in the future.