A Numerical Approach for 3 PRS Parallel Manipulator

Arockia Selvakumar A; . .

doi:10.14419/ijet.v7i4.10.20712

Authors

Arockia Selvakumar A
. .

Received date: October 1, 2018

Accepted date: October 1, 2018

Published date: October 2, 2018

DOI:

https://doi.org/10.14419/ijet.v7i4.10.20712

Keywords:

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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