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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| Format: | Article |
| Language: | zho |
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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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| _version_ | 1841548197079547904 |
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| author | An Ziming Zhu Dachang |
| author_facet | An Ziming Zhu Dachang |
| author_sort | An Ziming |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-0ea3389a45d04b50931273d8f1179e6d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0ea3389a45d04b50931273d8f1179e6d2025-01-10T14:09:01ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139444629915166Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel ManipulatorAn ZimingZhu DachangA 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.02.011Planar 3-PRP type parallel manipulatorInverse/forward solution of positionKinematics analysisSingularity position |
| spellingShingle | An Ziming Zhu Dachang Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator Jixie chuandong Planar 3-PRP type parallel manipulator Inverse/forward solution of position Kinematics analysis Singularity position |
| title | Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator |
| title_full | Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator |
| title_fullStr | Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator |
| title_full_unstemmed | Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator |
| title_short | Kinematics and Singularity Analysis of a Planar 3-PRP Type Parallel Manipulator |
| title_sort | kinematics and singularity analysis of a planar 3 prp type parallel manipulator |
| topic | Planar 3-PRP type parallel manipulator Inverse/forward solution of position Kinematics analysis Singularity position |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.02.011 |
| work_keys_str_mv | AT anziming kinematicsandsingularityanalysisofaplanar3prptypeparallelmanipulator AT zhudachang kinematicsandsingularityanalysisofaplanar3prptypeparallelmanipulator |