Influence upon Kinematics Performance of a Family of 3-PRS Parallel Mechanisms Affected by Kinematic Chain Layout

Yi Chun Xu; Bin Li; Xin Hua Zhao

doi:10.4028/www.scientific.net/AMM.321-324.37

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Influence upon Kinematics Performance of a Family of 3-PRS Parallel Mechanisms Affected by Kinematic Chain Layout

Abstract:

The influence upon kinematics performance of a family of 3-PRS parallel mechanisms affected by kinematic chain layout has been studied in this paper. Firstly, the locality arrangement parameters of single PRS kinematic chain are identified. According to these parameters values and their combinations, different arrangement of PRS kinematic chain are proposed, and variant configurations of 3-PRS parallel mechanisms are enumerated. Then, the inverse kinematic problems are solved, and the influential actions of kinematic chain layout on kinematic performance of these mechanisms are carried out. Simulation results illustrate that kinematic chain layout has direct influence upon kinematic performance of the 3-PRS parallel mechanisms.