# Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB

Published on Dec 1, 2011

· DOI :10.1109/ICCIAutom.2011.6356760

Abstract

Published on Dec 1, 2011

· DOI :10.1109/ICCIAutom.2011.6356760

Abstract

- References (15)
- Citations (1)

References15

Newest

The [email protected]?RS parallel manipulator has recently been prototyped as a machining centre. PRS denotes the prismatic-revolute-spherical architecture of each limb where only the prismatic joint is actuated and hence underlined. Three variations of this manipulator have been independently presented in the literature. The architectural parameters affecting the size of the dexterous workspace volume are identified for each of the three models. The influence of these parameters on each of the ...

A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Fi...

Abstract Using a novel method for the formulation of Jacobian matrices, this paper quantitatively compares the dexterity of spatial complex degree of freedom parallel manipulators for the first time. The manipulators included in this study are three-degree-of-freedom manipulators including the 3- P RS, 3-R P S, and Tricept. The comparison is made possible through the use of a novel method of formulating square dimensionally homogeneous Jacobian matrices, and a consistent choice of independent en...

The condition number of the Jacobian matrix has been commonly used in determining the dexterous regions of a manipulator workspace. This has been successful when applied to manipulators having either solely spherical or solely Cartesian degrees of freedom. However, for manipulators having a mix of both rotational and translational degrees of freedom, i.e., complex degree of freedom manipulators, the condition number of the Jacobian matrix may not be used due to dimensional inconsistencies with i...

Sensitivity analysis of the 3-PRS parallel kinematic spindle platform of a serial-parallel machine tool

The special configuration of a serial-parallel type machine tool possesses five degrees of freedom and provides more flexibility in NC machining. The parallel spindle platform plays the key role in manipulating three directions of movement. In this study, the inverse kinematics analysis of the platform is derived first. A sensitivity model of the spindle platform subject to the structure parameters is then proposed and analyzed. All the parameters influencing the position and orientation of the ...

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 solution to the direct kinematics problem can be...

MIPS is a micro robot with a parallel mechanical architecture having three degrees of freedom (one translation and two orientations) that allow fine positioning of a surgical tool. The purpose of MIPS is to act as an active wrist at the tip of an endoscope and to provide to the surgeon an accurate tool that may furthermore offer a partial force-feedback. The current prototype has a diameter of 7 mm for a length of 2.5 cm and includes all the necessary hardware. We will explain why a parallel arc...

A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages. The prismatic joints are considered to be actuated. These prismatic actuators lie on a common plane and have radial directions of action. The mechanism's inverse displacement solution is obtained. Since the mechanism has only ...

The forward and inverse kinematics of a two degrees of freedom (DOF) parallel mechanism for beam aiming applications is derived in closed form. The mechanism has three arms attached to a base via revolute joints. Another three arms are also attached to an upper platform via passive revolute joints. Each of the three base arms is connected to its respective opposing passive arm via a spherical joint. A central strut between the platform and the base is connected with spherical joints so that the ...

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Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze t...