Kinematics analysis of the 3-RRS parallel robot based on screw theory
BI Ya-dong
Abstract：A new type of 3-RRS parallel robot kinematics analysis method was proposed.Based on the screw theory,a 3-RRS parallel robot kinematics and anti-helix spiral model was established,obtaining the freedom of movement through the model analysis and Kutzbach Grubler calculated results,deriving a paral-lel position of the robot inverse solution models.Using Newton′s iterative method of simulation software Matlab,the first positive solution and then inverse solution and then inverse solution after the first positive solution were calculated to verify the numerical accuracy.The 3-RRS method also applied to other parallel robots,and had application value.
Keywords：screw theoryparallel robotkinematics analysispositive and inverse solutionfreedom of movement
Publication Date：2013-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 67-72 )