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Kinematic analysis of 3-RPS type parallel robot based on screw theory

Guo-Xin Zhang

Open publisher page 1 citations

Abstract

3-RPS type parallel mechanism is of three limbs symmetrical in structure in which each is connected with the base through a revolute pair and a spherical pair is connected with moving platform,While the revolute pair is connected with the spherical pair through a moving pair.Screw theory and spatial mechanism structure theory are adopted to derive the characteristic of motion of the robot through constraints.By applying vector analysis method the normal/inverse solution of this mechanism can be derived respectively to obtain a kinematical equation for the mechanism.Furthermore,the kinematic singularities for the structure of the robot are analyzed based on Jacobine matrix of the mechanism symmetrical with inhomogeneity and imperfect DOF.

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What this paper is about

3-RPS type parallel mechanism is of three limbs symmetrical in structure in which each is connected with the base through a revolute pair and a spherical pair is connected with moving platform,While the revolute pair is connected with the spherical pair through a moving pair.Screw theory and spatial mechanism structure theory are adopted to derive the characteristic of motion of the robot through constraints.By applying vector analysis method the normal/inverse solution of this mechanism can be derived respectively to obtain a kinematical equation for the mechanism.Furthermore,the kinematic singularities for the structure of the robot are analyzed based on Jacobine matrix of the mechanism symmetrical with inhomogeneity and imperfect DOF.

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Available abstract

3-RPS type parallel mechanism is of three limbs symmetrical in structure in which each is connected with the base through a revolute pair and a spherical pair is connected with moving platform,While the revolute pair is connected with the spherical pair through a moving pair.Screw theory and spatial mechanism structure theory are adopted to derive the characteristic of motion of the robot through constraints.By applying vector analysis method the normal/inverse solution of this mechanism can be derived respectively to obtain a kinematical equation for the mechanism.Furthermore,the kinematic singularities for the structure of the robot are analyzed based on Jacobine matrix of the mechanism symmetrical with inhomogeneity and imperfect DOF.

Key concepts: Revolute joint, Screw theory, Mechanism (biology), Kinematics, Gravitational singularity, Mathematics, Type (biology), Inverse kinematics

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