2014•Journal of Jiamusi UniversityRequires access

Research on Direct Kinematics for 3-RPS Parallel Mechanism

Ren Wen-b

Abstract

Direct kinematics of parallel mechanism is a complex and nonlinear problem of attitude coupled and position. Generally it is difficult to obtain closed- form analytical solution. And inverse kinematics equations of the mechanism were derived. The direct kinematics problem of 3- RPS parallel mechanism was solved by analytical method,positive solution of the equation formula and coefficient values were given and obtained in closed- form analytical solution. The reliability of the method was verified based on solve specific numerical examples and drew part of the space agency graphical with all the position solution.

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Key concepts: Kinematics, Inverse kinematics, Kinematics equations, Mechanism (biology), Position (finance), Nonlinear system, Mathematics, Reliability (semiconductor)