Kinematic analysis of a 3-PRS parallel manipulator
Kinematic analysis of a 3-PRS parallel manipulator
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DOI：
10.1016/j.rcim.2006.04.007
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发表时间：
2007-08-01
影响因子：
10.4
通讯作者：
Xu, Qingsong
中科院分区：
文献类型：
--
作者：
Li, Yangmin;Xu, Qingsong
虽然目前的3-PRS并联机器人在执行机构的布置方法上有所不同，但由于它们可以用相同的运动学算法来处理，因此可以认为是同一类机构。提出了一种可调作动器布置角度的3-PRS并联机械手。详细研究了不同的作动器布置方式对工作空间和灵巧度运动特性的影响。利用倒螺旋理论分析了机械手的运动特性。求解了3-PRS并联机器人的逆运动学、正运动学和速度运动学问题。通过改变执行机构的布局角度，导出了可达工作空间特征和包括运动可操纵性和全局灵巧度指标在内的灵巧性特征。仿真结果表明，在设计3-PRS并联机器人的执行机构布局角度时，需要考虑不同的任务。(c) 2006 Elsevier Ltd.版权所有。
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. (c) 2006 Elsevier Ltd. All rights reserved.