Kinematics simulation and analysis of 3-RPS parallel robot on SimMechanics | IEEE Conference Publication | IEEE Xplore

Kinematics simulation and analysis of 3-RPS parallel robot on SimMechanics


Abstract:

Compared with serial robots, because of some advantages, e.g. higher stiffness, errors will not accumulated, parallel robot has much potential use. To 3-RPS parallel robo...Show More

Abstract:

Compared with serial robots, because of some advantages, e.g. higher stiffness, errors will not accumulated, parallel robot has much potential use. To 3-RPS parallel robot, there are 3 controllable degrees of freedom (axis x, axis y, axis z, or angle x, angle y, axis z). It may be called position kinematics or posture kinematics. According to structural characteristics of the 3-RPS parallel robot, the mathematical model of the posture inverse kinematics is established. The simulation model is set up using the SimMechanics and Simulink module. The validity of the posture inverse kinematics is proved by comparing the two models. And during the motion simulation, the related kinetics data and motion animate are obtained.
Date of Conference: 20-23 June 2010
Date Added to IEEE Xplore: 19 July 2010
ISBN Information:
Conference Location: Harbin, China

References

References is not available for this document.