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3-RRR球面并联机器人逆向运动学分析.docx

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3-RRR球面并联机器人逆向运动学分析 Title:InverseKinematicAnalysisofa3-RRRSphericalParallelManipulator Abstract: Inrecentyears,parallelmanipulatorshavegainedsignificantattentionduetotheirremarkablecharacteristics,suchashighrigidity,precision,andloadcapacity.The3-RRR(Revolute-Revolute-Revolute)sphericalparallelmanipulatorpossessestheseadvantages,makingitsuitableforvariousapplications,particularlyinaerospaceandautomotiveindustries.Thispaperpresentsanin-depthanalysisoftheinversekinematicsofthe3-RRRsphericalparallelmanipulator,aimingtodeterminethejointanglesrequiredtoachieveadesiredend-effectorpositionwithintheworkspace.Thestudyemploysageometricapproachtoderivetheclosed-formsolutionsforjointanglesbyutilizinganalyticalgeometryandtrigonometricrelationships.Theobtainedanalysisprovidesvaluableinsightsintotheinversekinematicsofthe3-RRRsphericalparallelmanipulator,pavingthewayforitsoptimizedcontrolandtrajectoryplanning. 1.Introduction: Parallelmanipulatorshaveattractedsignificantattentioninthefieldofroboticsduetotheiruniquecharacteristics.The3-RRRsphericalparallelmanipulatorisahighlypromisingmechanism,possessingadesirablecombinationofrigidity,accuracy,andpayloadcapacity.Thissectionprovidesanoverviewofparallelmanipulators,highlightingtheiradvantagesandimportanceinvariousindustries.Italsointroducesthe3-RRRsphericalparallelmanipulatorandemphasizestheneedforinversekinematicsanalysis. 2.KinematicModelofthe3-RRRSphericalParallelManipulator: Thissectionpresentsthekinematicmodelofthe3-RRRsphericalparallelmanipulator.Themodelincludesthedescriptionofthejointstructure,actuatedjointangles,andthecoordinatesystemsusedtodescribethemechanism'smotion.Theequationsrepresentingthepositionandorientationoftheend-effectorarederivedusinggeometricrelationshipsandtrigonometry. 3.InverseKinematicsAnalysis: Theinversekinematicsanalysisaimstodeterminethejointanglesnecessarytoachieveadesiredend-effectorposition.Thissectionpresentsastep-by-stepanalysisoftheinversekinematicsproblemforthe3-RRRsphericalparallelmanipulator.It