A Fast Forward Kinematics Algorithm for 3-PRS Parallel Mechanism

Tian Yu Li; Ding Xuan Zhao; Fang Yuan Han; Zhong Ke Shi; Meng Wang; Guo Ping Huang

doi:10.4028/www.scientific.net/AMR.468-471.303

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 468-471A Fast Forward Kinematics Algorithm for 3-PRS...

A Fast Forward Kinematics Algorithm for 3-PRS Parallel Mechanism

Abstract:

Parasitic motion of 3-PRS (prismatic-revolute–spherical) parallel mechanism is discussed, inverse kinematics model of this mechanism is established. Based on the structure feature of 3-PRS parallel mechanism, a new forward kinematics algorithm for this mechanism is presented. The algorithm consists of approximate calculation and iterative calculation. The mathematical model of the proposed algorithm is clear simple, no derivative operation or Jacobi matrix inverse operation is needed, so computation is less. The experiment shows that in the same computing environment, the calculation speed of the proposed algorithm is about 2 times of the existing algorithms to achieve the same accuracy, so it can be applied to real-time control. Complexity and workload of programming is less than half of before. The algorithm is based on 3-PRS parallel mechanism, but it is also applicable for other parallel mechanism.

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Periodical:

Advanced Materials Research (Volumes 468-471)

Pages:

303-308

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.468-471.303

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Online since:

February 2012

Authors:

Tian Yu Li, Ding Xuan Zhao, Fang Yuan Han, Zhong Ke Shi, Meng Wang, Guo Ping Huang

Keywords:

3-PRS, Forward Solution, Kinematics, Parallel Mechanism, Parasitic Motion

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