2012•Machinery Design and ManufactureRequires access

Kinematics analysis & simulation for 3-PRS parallel mechanism

MA Zhi-pu

Abstract

A kind of 3-PRS spatial parallel mechanism is introduced.Through kinematic analyzing the mechanism using screw theory,a 3D virtual prototype modeling of this mechanism is constructed with UG and kinematics simulation is carried out by importing software ADAMS.With strong function of ADAMS in kinematic simulation,function,measurement and post processing,the mechanism is verified to be a fullsymmetric parallel mechanism with spatial 3 PRS,which mobile platform can rotate around X axial,Y axialand move along Z axial,which result is coincident with kinematic analysis of screw theory and provide relative reference for the study of prototype design and control in the near future.

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Available abstract

Key concepts: Kinematics, Mechanism (biology), Screw theory, Computer science, Software, Simulation, Function (biology), Physics