关键词: 并联机器人, 雅可比矩阵, 工作空间, 奇异性, 可操作度, 灵巧性

Abstract: A new developed 3-leg parallel robot was concerned with its kinematic behavior, of which the related equations and Jacobian matrix were presented with its workspace analyzed. The singularity and smartness of the robot mechanism were discussed by the way of ascertaining the indices of operability and condition number of Jacobian matrix. The results of simulation show that the robot has workspace symmetrical about X-axis. The robot's operability W varies in a range from 0.8 to 2.45 within its whole workspace, i.e., an excellent operability without singular/uncertain position. Meanwhile, the matrix condition number C(J) varies in a range from 1.0 to 6.2 without sudden break if picking up any coordinated axis (X,Y,Z) to indicate its value. These reveal that the robot is of high kinematic smartness.