Kinematic Forward Solution Analysis of the 3-PRS Parallel Robot

摘要：

　　It is always hot and difficult to research kinematic forward solutions of the Parallel robots.In the paper according to the trait of 3-PRS parallel robot,the three freedom degrees are analyzed by using helix theory,which include one prismatic freedom degree along z axis and two rotation freedom degrees along x and y axis.The movement equation of the motion platform center is given on this basis,then the example is programmed by making use of Matlab software,in the end the kinematic forward solutions are gained.The method is in common use and is suitable for other type parallel robots.This also provides the reference value for control strategy.

关键词： 3-PRS Parallel Robot Helix Theory Kinematic Forward Solutions Matlab Software

作者: Junjie Huang Jianli Kang Junwei Zhao

作者单位: School of Mechanical and Power Engineering,Hennan Polytechnic University,Jiaozuo,Hennan,454000,China School of Architecture and Art design,Hennan Polytechnic University,Jiaozuo,Hennan,454000,China

会议类型: 国际会议

会议名称: the 2012 2nd International Conference on Frontiers of Manufacturing Science and Measuring Technology (第二届制造科学与检测技术国际会议(ICFMM 2012))

会议地点: 西安

会议语种:英文

页码: 913-917

在线出版日期: 2012-06-12（万方平台首次上网日期，不代表论文的发表时间）