An Investigation of a 3-PRS Parallel Motion Mechanism with Intersecting Rails
This study proposes a 3-axis AC servo motor parallel platform with intersecting rails. The 3-actuators are designed to be horizontally on the base platform with their extensions intersect in the base platform center. The forward kinematics, inverse kinematics and work space of this mechanism are established and the singularity distribution is investigated. Optimal maneuvering regions are recommended from the viewpoints of singularity and stiffness.
Y. M. Cheng "An Investigation of a 3-PRS Parallel Motion Mechanism with Intersecting Rails", Applied Mechanics and Materials, Vols. 52-54, pp. 517-522, 2011