Kinematic Forward Solution Analysis of the 3-PRS Parallel Robot-Reference-Cited by-同舟云学术

Kinematic Forward Solution Analysis of the 3-PRS Parallel Robot

Published:2012-04 Issue: Volume:503-504 Page:913-917
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Huang Jun Jie¹,Kang Jian Li¹,Zhao Jun Wei¹

Affiliation:

1. Hennan Polytechnic University

Abstract

It is always hot and difficult to research kinematic forward solutions of the Parallel robots .In the paper according to the trait of 3-PRS parallel robot, the three freedom degrees are analyzed by using helix theory, which include one prismatic freedom degree along z axis and two rotation freedom degrees along and axis. The movement equation of the motion platform center is given on this basis, then the example is programmed by making use of Matlab software, in the end the kinematic forward solutions are gained. The method is in common use and is suitable for other type parallel robots. This also provides the reference value for control strategy

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.503-504.913.pdf

Reference9 articles.

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4. Zhao Jun-wei; Fang Xun; Huang Jun-jie. The forward solution of 3-PRS serial parallel mechanism based on Matlab & database. Modern Manufacturing Engineering, 11（2007）106-109.

5. ZHAO Jun-wei，DAI Jun，HUANG Jun-jie. 3-PRS serial-parallel machine tool error calibration and parameter identification. Journal of Chongqing University of posts and Telecommunications (Natural Science Edition), 21（2009）.

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