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Simulation and numerical analysis based on kinematics of PRS-XY Serial-Parallel PKM

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4 Author(s)
Sun Hongchang ; Tianjin Key Lab. of High Speed Cutting & Precision Machining, TUTE, Tianjin, China ; Dai Yi ; Zhang Jianmin ; Li Linaf

A set of PRS-XY Serial-Parallel PKM(Parallel Kinematic Machine) is presented in this paper. The mechanism is made up of a set of 3-PRS parallel mechanism and an X-Y table. Both the direct and inverse kinematics model are established based on the Kinematics analysis for PRS-XY platform. The numerical analysis is also implemented and the kinematics model is proved to be correct by means of numerical validation and simulation.

Published in:

Mechatronics and Automation (ICMA), 2010 International Conference on

Date of Conference:

4-7 Aug. 2010