Kinematic analysis of 3-PRS parallel robot for using in satellites tracking system

Due to parallel robot stiffness, more high loading capability and positioning accuracy than conventional serial robots, they can be considered to implementation in satellite tracking systems. In addition, according to unique kinematic characteristics of this kind of robots, they are able to avoid singularity in near zenith angle during the tracking. In this paper a 3-PRS Parallel Robot for using in LEO satellite tracking system is presented and its kinematic analysis for this application is investigated and constraint equations for satellite trajectory tracking are extracted. Simulation results verify that this 3-PRS Mechanism could track the Satellite trajectories out of singularity and with high accuracy.