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Kinematic analysis of a 3-PRS parallel manipulator
Li Y.; Xu Q.
Source PublicationRobotics and Computer-Integrated Manufacturing

Although the current 3-PRS parallel manipulators have different methods on the arrangement of actuators, they may be considered as the same kind of mechanism since they can be treated with the same kinematic algorithm. A 3-PRS parallel manipulator with adjustable layout angle of actuators has been proposed in this paper. The key issues of how the kinematic characteristics in terms of workspace and dexterity vary with differences in the arrangement of actuators are investigated in detail. The mobility of the manipulator is analyzed by resorting to reciprocal screw theory. Then the inverse, forward, and velocity kinematics problems are solved, which can be applied to a 3-PRS parallel manipulator regardless of the arrangement of actuators. The reachable workspace features and dexterity characteristics including kinematic manipulability and global dexterity index are derived by the changing of layout angle of actuators. Simulation results illustrate that different tasks should be taken into consideration when the layout angles of actuators of a 3-PRS parallel manipulator are designed. © 2006 Elsevier Ltd. All rights reserved.

KeywordDexterity Kinematics Mechanism Design Mobility Parallel Mechanism Workspace
URLView the original
Indexed BySCI
WOS Research AreaComputer Science ; Engineering ; Robotics
WOS SubjectComputer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS IDWOS:000246440100004
The Source to ArticleScopus
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Cited Times [WOS]:138   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao SAR, PR China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Li Y.,Xu Q.. Kinematic analysis of a 3-PRS parallel manipulator[J]. Robotics and Computer-Integrated Manufacturing,2007,23(4):395.
APA Li Y.,&Xu Q..(2007).Kinematic analysis of a 3-PRS parallel manipulator.Robotics and Computer-Integrated Manufacturing,23(4),395.
MLA Li Y.,et al."Kinematic analysis of a 3-PRS parallel manipulator".Robotics and Computer-Integrated Manufacturing 23.4(2007):395.
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