Kinematic Characteristics Analysis of 3-PRS Parallel Manipulator |
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| Authors: | ZHANG Fan YANG Jiang-guo LI Bei-zhi |
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| Institution: | College of Mechanical Engineering, Donghua University, Shanghai 200051, China |
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| Abstract: | The 3-PRS parallel mechanisms, whose kinematic chain is connected by prismatic joint P, revolute joint R and spherical joint S, have two rotational and one translational DOF. But the DOF of 3-PRS parallel mechanism cannot be explained by the Grubler-Kutzbach method or Herve method. To illuminate the special kinematic characteristics of 3-PRS parallel mechanism, a novel analytical approach is proposed in this paper. All the feasible instantaneous motions of 3-PRS mechanism are studied by using this method. The analysis of kinematic characteristics of 3-PRS mechanism help to understand the mechanism and estimate the motion capacity of mechanism. Finally, it is also helpful to optimize the topology of the mechanism and the trajectory for desired performance. |
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| Keywords: | parallel mechanism instantaneous motion Screw Theory mechanism design |
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