2008•东华大学学报：英文版Requires access

Kinematic Characteristics Analysis of 3-PRS Parallel Manipulator

Beizhi Li

Abstract

The 3-PRS parallel mechanisms,whose kinematic chain is connected by prismatic joint P,revolute joint R and spherical joint S,have two rotational and one translational DOF.But the DOF of 3-PRS parallel mechanism cannot be explained by the Grubler-Kutzbach method or Herve method.To illuminate the special kinematic characteristics of 3-PRS parallel mechanism,a novel analytical approach is proposed in this paper.All the feasible instantaneous motions of 3-PRS mechanism are studied by using this method.The analysis of kinematic characteristics of 3-PRS mechanism help to understand the mechanism and estimate the motion capacity of mechanism.Finally,it is also helpful to optimize the topology of the mechanism and the trajectory for desired performance.

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Available abstract

Key concepts: Revolute joint, Kinematics, Mechanism (biology), Kinematic chain, Kinematic diagram, Parallel manipulator, Control theory (sociology), Joint (building)