Kinematic analysis of 3-RPS parallel mechanism

This paper analyses the kinematics characteristics of 3-revolute-prismatic-spherical (3-RPS) parallel mechanism. Firstly, the reference coordinate system is established, and the position of each branch is obtained by combining the coordinate transformation and the space distance theory of the vector. The velocity and acceleration are obtained by deriving the position of the branch. Finally, the kinematics of the 3-RPS parallel mechanism is solved by MATLAB programming and the simulation results verity the correctness of the calculation.