Jacobian Matrix Analysis of New Parallel Manipulator ROBO_003 Using Reciprocal Screw Theory

The reciprocal screw theory is applied to the study of the Jacobian matrix of a novel parallel manipulator called ROBO_003(3DOF).A simple way is used to get the reciprocal screw of the joint screw of a limb,and then the Jacobian constraint matrix,the Jacobian actuation matrix and the Jacobian overall matrix are obtained.These Jacobian matrices can derive the mapping between the motion speed of a moving platform and the speed of an actuation joint.The method can also be applied to the study of the Jacobian matrix of other 3 -DOF parallel manipulators.