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Direct kinematic analysis of a 3-PRS parallel mechanism

✍ Scribed by Meng-Shiun Tsai; Ting-Nung Shiau; Yi-Jeng Tsai; Tsann-Huei Chang


Book ID
108393861
Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
168 KB
Volume
38
Category
Article
ISSN
0094-114X

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Kinematics analysis of a novel parallel
✍ Yanbin Zhang; Hongzhao Liu; Xin Wu πŸ“‚ Article πŸ“… 2009 πŸ› Elsevier Science 🌐 English βš– 509 KB

A novel 3-DOF uncoupled spatial parallel manipulator is presented. Firstly, geometrical structure and mobility analysis of the manipulator are addressed. Then the forward and the inverse kinematic problems are analyzed, singularity analysis of the mechanism is performed based on the singular conditi