3-PUU并联机构运动学分析

Finding analytical solution of the forward kinematics for a 3-PUU parallel manipulator is intricate. To solve this problem, intervening variable method and numerical search based on MATLAB are used to estimate its workspace. Firstly, the link parameters and fixed/moving coordinate systems are set, followed by the inverse kinematics and numerical search by introducing intervening variable method. Then, taking the derivative of the inverse kinematics solutions, the velocity Jacobian matrix is obtained. Finally, the workspace of the parallel manipulator is generated considering linkage lengKinematics analysis of parallel mechanism 3-PUUths, rotation angle limitations and strokes of the prismatic joints by numerical search. The results show that there exist complicated analytical solutions and the workspace is symmetrical.