.3-rps Parallel Manipulator And Its Variant 2-rps + The Psr Parallel Robot Kinematics Study

Kinematics character study of little degree of freedom parallel manipulator is an important question of research on the theory and the application of parallel manipulator.According to the engineering practice command of certain military project, architecture design is discussed on a new type parallel manipulator named 2-RPS+PSR that is transformed from 3-RPS parallel manipulator. Based on the model of the inverse solution of 3-RPS parallel manipulator, the paper firstly analyses the workplace of the manipulator and the performance of kinematics. Based on the model of the inverse solution of 2-RPS+PSR parallel manipulator, with the numerical method, by inputting outputs and circulating searching, a calculation method of the workspace is founded. On the other side, we analyses the change law on the displacement, velocity and acceleration of the moveable platform. All the influence parameters on the workspace are discussed in detail.Eventually, some useful conclusions are obtained .The results provide reference conclusion for the design of parallel kinematics equipments.