Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator
A planar 3-PRP type parallel manipulator with three symmetrical limbs structure in the plane is proposed,and each limb consists of a prismatic joint is connected to a basement,one prismatic joint is connected with the moving platform,and two prismatic joints connected through a revolute joint.By usi...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.02.011 |
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| Summary: | A planar 3-PRP type parallel manipulator with three symmetrical limbs structure in the plane is proposed,and each limb consists of a prismatic joint is connected to a basement,one prismatic joint is connected with the moving platform,and two prismatic joints connected through a revolute joint.By using vector analysis method,the inverse and forward kinematics solution of planar 3-PRP type parallel manipulator are solved,and the Jacobian matrix is analyzed with the velocity and singular isotropic configuration.The results show that the planar 3-PRP type parallel manipulator without singularity in the work area,and through the modify motion parameters can improve the motion accuracy. |
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| ISSN: | 1004-2539 |