A Numerical Approach for 3 PRS Parallel Manipulator
DOI:
https://doi.org/10.14419/ijet.v7i4.10.20712Published:
2018-10-02Keywords:
Parallel manipulator, Kinematics, 3-PRS, MATLAB.Abstract
This paper presents a numerical approach on kinematic analysis of 3-DOF parallel manipulator (PM). The proposed mechanisms constitute of PRS (Prismatic-Revolute-Spherical) parallel mechanism with two rotations and one translation. The forward and inverse kinematic equations of the PM are derived by position vector method. A total of 48 solutions are obtained for the forward kinematic equations using MATLAB.
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Accepted 2018-10-01
Published 2018-10-02