Abstract
In this paper the methods of structural synthesis and inverse kinematics of 3-PRRS type parallel manipulator (PM) are developed. This PM is formed by connecting of a moving platform with a fixed base by three passive closing kinematic chains of PRRS type. Constant and variable parameters characterizing the geometry of links and relative motions of elements of joints are defined. Inverse kinematics of the PM is solved of the basis of solution of the loop-closure matrix equations of the legs.
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Baigunchekov, Z., Laribi, M.A., Mustafa, A., Kaiyrov, R., Amanov, B., Kassinov, A. (2020). Geometry and Inverse Kinematics of 3-PRRS Type Parallel Manipulator. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_2
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DOI: https://doi.org/10.1007/978-3-030-19648-6_2
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