Direct kinematic analysis of a 3-PRS parallel mechanism
Abstract
This paper presents the direct kinematics solutions for a novel 3-PRS parallel mechanism. The geometric method is applied to formulate three coupled trigonometric equations. One algorithm for solving the three coupled equations is to use the Bezout’s elimination method which leads to a total of 64 solutions. By categorizing the 64 solutions into six groups and further examining the corresponding configuration for each group, the preferred...
Paper Details
Title
Direct kinematic analysis of a 3-PRS parallel mechanism
Published Date
Jan 1, 2003
Journal
Volume
38
Issue
1
Pages
71 - 83
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