Research on kinematic forward solution for 3-PRS parallel mechanism
Abstract：The structure of a 3-PRS parallel mechanism, including two rotation degrees of freedoms （DOFs） and one prismatic DOF, is analyzed. The kinematic equation of a motion platform is given by a closed vector method and a simplified coordinate transfer matrix, and then the kinematic forward solution of this parallel mechanism is optimized by making use of a genetic algorithm object function, which is substituted into the kinematic equation and the length of a linked rod is solved. This approach has a small error and high precision compared with the known connecting rod, and provides a foundation for their control strategies. This method does not select the initial iteration value and does not need a complicated mathematical deduction. The results are satisfactory and the implement is easy. Thusly, it is also suitable for other similar parallel mechanisms.
Keywords：3-PRS parallel mechanismkinematic forward solutiongenetic algorithmMatlab
Publication Date：2012-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 434-436,452 )