Position and Orientation Error Analysis of a New 3-PRS Parallel Mechanism
Aiming at the analysis of the position and orientation error on the new 3- PRS parallel mechanism with three adjustable pedestals and variable working space,a geometric analytic method for the forward kinematics analysis of the 3- PRS parallel mechanism is proposed,then the analysis of the working p...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.032 |
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| Summary: | Aiming at the analysis of the position and orientation error on the new 3- PRS parallel mechanism with three adjustable pedestals and variable working space,a geometric analytic method for the forward kinematics analysis of the 3- PRS parallel mechanism is proposed,then the analysis of the working platform end- effector error is derived,and what’s more,the position and orientation of the working platform end- effector is obtained by using software emulation when the three pedestals at different positions. The results show that the end- effector error has obvious changes with the different positions of the three pedestals. This study provides a useful guidance for the error compensation of the new 3- PRS parallel mechanism. |
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| ISSN: | 1004-2539 |