Abstract: The kinematic and dynamic analysis of a three degrees of freedom
3-RPS parallel robot mechanism are presented. The Jacobian of
the mechanism is a 3 by 6 rectangular matrix. This imposes
difficulties on the kinematic analysis of this mechanism. A
method to formulate three motion constrain equations which are
consistent with the structure of the mechanism is presented, and
the close form dynamic model is established for the parallel
robot mechanism.
Key words: Robotics
Kinematics Dynamics
*
This project
is supported by National Natural Science Foundation of China. Manuscript received on
May 13, 1996; revised manuscript August 20, 1996
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