INVERSE KINEMATICS OF 3-PRPS TYPE PARALLEL MANIPULATOR

In this paper, on the basis of previously obtained constant and variable parameters characterizing the geometry of binary links and the relative motions of elements of kinematic pairs, the matrices of binary links and kinematic pairs of 3-PRPS type parallel manipulator are composed. Using these transformation matrices, the inverse kinematics problem of the considered parallel manipulator is solved.

1. Merlet J.-P. Parallel Robots. Kluwer, Dordrecht, 2000.

2. Tsai L. W. Robot Analysis: The Mechanics of Serial and Parallel Mnipulators. John Wiley & Sons, New York, 1999.

3. Ceccarelli M. Fundamentals of Mechanics of Robotic Manipulation. Kluwer Academic Publisher, 2004.

4. Stewart D. A Platform with six Degrees-of-Freedom. Proc. Inst. Mech. Eng., Vol. 108, No. 15, 1965, pp. 3771-386.

5. Kohli D., Lee S.-H, Tsai K.-Y, Sandor G. N., Manipulator Configurations Based on Rotary-Linear (R-L) Actuators and Their Direct and Inverse Kinematics. Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 110, pp. 397-404, 1988.

6. Zlatanov D., Dai M. Q., Fenton R. G., Benhabib B., Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator, Robotics, Spatial Mechanisms, and Mechanical Systems, Kiezel, Reinholtz, Lipkin, Tsai, Pennock, Cipra, eds., DE - Vol. 45, pp. 529-536, 1992.

7. К. Фу, Р. Гонсалес, К. Ли. Робототехника. .- М.: Изд. Мир, 1989. - 621 с.

8. Mark W. Spong, Seth Hutchinson and M. Vidyasagar. Robot Dynamics and Control. John Wiley & Sons, 2004.