Forward Kinematics Analysis of a 3-PRS Parallel Manipulator

Forward Kinematics Analysis of a 3-PRS Parallel Manipulator
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发表时间：
2010-01
期刊：
World Academy of Science, Engineering and Technology, International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering
影响因子：
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通讯作者：
G. Abbasnejad;S. Zarkandi;M. Imani
G. Abbasnejad;S. Zarkandi;M. Imani
中科院分区：
其他
文献类型：
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作者：
G. Abbasnejad;S. Zarkandi;M. Imani

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本文采用同伦延拓法（HCM）求解3-PRS并联机器人的运动学正解问题。由于机械手运动学中非线性方程组的求解存在许多困难，因此不可避免地要采用牛顿-拉夫逊等数值解法。在处理任何数值解时，有两个麻烦的问题。一个是好的初始猜测不容易被检测到，另一个是与所使用的方法是否会收敛到有用的解决方案。结果表明，同伦延拓方法可以克服传统数值方法的不足。关键词-运动学正解;同伦延拓法;并联机器人;转动矩阵
In this article the homotopy continuation method (HCM) to solve the forward kinematic problem of the 3-PRS parallel manipulator is used. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is that good initial guesses are not easy to detect and another is related to whether the used method will converge to useful solutions. Results of this paper reveal that the homotopy continuation method can alleviate the drawbacks of traditional numerical techniques. Keywords—Forward kinematics; Homotopy continuation method; Parallel manipulators; Rotation matrix