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

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.

I. Introduction

Parallel robot has many advantages such as great stiffness, stable structure [1], [2], strong carrying capacity, high accuracy, and small inertia, low cost, no error accumulation, and can be modular. It is easy to obtain inverse kinematics and convenient to real-time control [3], [4], therefore, it has broad development prospects.