Open AccessA Numerical Approach for 3 PRS Parallel Manipulator
Author(s) -
Arockia Selvakumar A
Publication year - 2018
Publication title -
international journal of engineering and technology
Language(s) - English
Resource type - Journals
ISSN - 2227-524X
DOI - 10.14419/ijet.v7i4.10.20712
Subject(s) - revolute joint , kinematics , parallel manipulator , matlab , translation (biology) , mechanism (biology) , position (finance) , computer science , inverse kinematics , forward kinematics , control theory (sociology) , inverse , mathematics , geometry , artificial intelligence , classical mechanics , physics , chemistry , biochemistry , control (management) , finance , constraint (computer aided design) , quantum mechanics , messenger rna , economics , gene , operating system
This paper presents a numerical approach on kinematic analysis of 3-DOF parallel manipulator (PM). The proposed mechanisms constitute of PRS (Prismatic-Revolute-Spherical) parallel mechanism with two rotations and one translation. The forward and inverse kinematic equations of the PM are derived by position vector method. A total of 48 solutions are obtained for the forward kinematic equations using MATLAB.