Kinematic Analysis Of3-PRS Parallel Mechanism

As the space of three DOF Parallel typical,3-PRS parallel robot end-effector can rotatearound the axis x and the axis y along the axis z of the mixing sport and movement. And thesmall number of its branched, symmetrical structure, easy to control, has become one of thehot field of robot mechanisms, with a high practical value. This paper around the3-PRSparallel robot movement in nature, being inverse position, workspace and other issuesin-depth research, as it can be more widely used in the industry to provide a theoretical basis.Firstly, the six degrees of freedom parallel robot research status and three degrees offreedom parallel robot, elaborated on research methods and research scholars at home andabroad.Secondly, the paper design of3-PRS parallel robot description of the organization, beingcarried out to solve the inverse of its location, using screw theory conducted a comprehensiveanalysis of the nature of their sport.Then, inverse kinematics, combined with the3-PRS parallel robot’s own structuralcharacteristics, given its definition workspace, workspace boundary points using the searchalgorithm to search the parallel mechanism workspace, analyzes the parallel robot mechanismparameters on the workspace, so as to lay the foundation for optimal design3-PRS parallelrobot.Finally, based on Solidworks3D modeling software, to establish a model of3-PRSparallel robot into ADAMS, and its kinematics and dynamics simulation analysis, as well asthe dynamics of the subsequent3-PRS Parallel Robot control studies provide a basis.