2008•Mechanical Engineering & AutomationRequires access

Kinematics Analysis of 3-3TPS1S Parallel Robot Mechanism

Chen An-jun

Abstract

A new algorithm on direct kinematics of 3-3TPS1S parallel robot is presented,which is based on the theory of inverse kinematics solution.Firstly,the forward kinematics and inverse kinematics models of 3-3TPS1S parallel robot are constructed according to generalized coordinates which are respectively related to the rotating angles of moving plat and the lengths of driving rods.Secondly,Newton iterative method is employed to solve the forward kinematics.Simulations show that the algorithm is efficient and high-precise,can be served as a reference for the theory and practice related.

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Key concepts: Inverse kinematics, Kinematics, Forward kinematics, Robot kinematics, Kinematics equations, Parallel manipulator, Computer science, Inverse