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2010•Unpublished venueRequires access

Simulation and numerical analysis based on kinematics of PRS-XY Serial-Parallel PKM

Hongchang Sun, Yi Fan Dai, Jian‐Min Zhang, Linaf Li

Open publisher page 1 citations

Abstract

A set of PRS-XY Serial-Parallel PKM(Parallel Kinematic Machine) is presented in this paper. The mechanism is made up of a set of 3-PRS parallel mechanism and an X-Y table. Both the direct and inverse kinematics model are established based on the Kinematics analysis for PRS-XY platform. The numerical analysis is also implemented and the kinematics model is proved to be correct by means of numerical validation and simulation.

About this research paper

What this paper is about

A set of PRS-XY Serial-Parallel PKM(Parallel Kinematic Machine) is presented in this paper. The mechanism is made up of a set of 3-PRS parallel mechanism and an X-Y table. Both the direct and inverse kinematics model are established based on the Kinematics analysis for PRS-XY platform. The numerical analysis is also implemented and the kinematics model is proved to be correct by means of numerical validation and simulation.

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Available abstract

A set of PRS-XY Serial-Parallel PKM(Parallel Kinematic Machine) is presented in this paper. The mechanism is made up of a set of 3-PRS parallel mechanism and an X-Y table. Both the direct and inverse kinematics model are established based on the Kinematics analysis for PRS-XY platform. The numerical analysis is also implemented and the kinematics model is proved to be correct by means of numerical validation and simulation.

Key concepts: Kinematics, Inverse kinematics, Computer science, Set (abstract data type), Mechanism (biology), Forward kinematics, Table (database), Parallel manipulator

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