Analysis on the parasitic motion of a new 3-PRS parallel mechanism
SUN Fuwei
ZHAO Junwei
CHEN Guoqiang
Abstract：3-PRS parallel mechanism is capable of moving along the X and Y axes and rotating around the Z axis,however it also brings parasitic motion in the non-independent DOFs.In order to analyze the parasitic motion of 3-PRS parallel mechanism and obtain changes of motion parameters and structural parameters,the mathematical model of the inverse kinematics is established on the basis of analyzing the structure of 3-PRS parallel mechanism.Parasitic motion in the non-independent is analyzed by simulation software MATLAB.The results show that parasitic motion becomes larger with the increase of the motion parameters and structural parameters,which provides theoretical basis and data support for the optimization design and error analysis of the 3-PRS parallel mechanism.
Keywords：3-PRS parallel mechanismkinematicsparasitic motion
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 78-82 )