Analysis on Motion Characters for A 3-PRS Parallel Mechanism
The motion character of a special three degree-offreedom (DOF) parallel mechanism is analyzed by screw theory. This mechanisms significant feature is that the axis of its prismatic pair is parallel to that of its revolute pair in the same limb. Firstly, by analysis, the mechanisms constraint screws are obtained, which leads to motions along the fixedlength links being restricted. Secondly, we get the mechanisms constraint screws reciprocal productions, namely the mechanisms free motions, which are three screw motions. After that, a numerical example is presented to illustrate the analysis in detail. At last, we draw some conclusions and discuss the future work.
3-PRS Parallel mechanism Screw theory Motion character
Zheng Gao Rui Su Jianting Zhao Hongrui Wang
Laboratory of Intelligent Robots, Hebei University, Baoding, China Office of Committee Degrees, Hebei University, Baoding, China
国际会议
天津
英文
379-387
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）