Direct kinematic analysis of a 3-PRS parallel mechanism

Tsai, Meng-Shiun; Shiau, T. N.; Tsai, Yi-Jeng; Chang, Tsann-Huei

doi:10.1016/s0094-114x(02)00069-1

Cited by 148 publications

(55 citation statements)

References 23 publications

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“…3-RPS mechanism is utilized in the machine tool, which was analyzed using Bezout's elimination approach for solving trigonometric non linear equations by MengShiun Tsai et al [16] during their research work. The hybrid machine tool developed by Industry Technology Research Institute (ITRI) is shown in Figure 8 using the stated 3-PRS mechanism.…”

Section: Delta Robotsmentioning

confidence: 99%

Parallel Manipulators Applications—A Survey

Patel¹,

George²

2012

MME

198

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This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains. The classification of various parallel manipulators is presented herewith. The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy.

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Section: Delta Robotsmentioning

confidence: 99%

Parallel Manipulators Applications—A Survey

Patel¹,

George²

2012

MME

198

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“…There have been many research achievements in the design of manipulators [11] [12]. However, parallel mechanisms can only work in a very limited workspace even it is rather sophisticated.…”

Section: Applications Of Serial and Parallel Mechanisms In Roboticsmentioning

confidence: 99%

Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

Zhang

Salvietti

Wang

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism and the extended workspace of a serial mechanism. However, the kinematic analysis of the serial and parallel mechanism is always the bottleneck in designing a robot and control realization. In order to deal with this problem, the whole kinematical analysis is organized in the sequence from the direct mechanical analysis related to the serial and parallel mechanism over the numerical solutions to the simplified kinematics expression. The latest results obtained demonstrate that the deduced closure-form solution is time efficient and easy to implement while offering a satisfactory motion performance in on-site experiments.

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“…The kinematics of 3-PRS mechanism has been fully analyzed (Carretero et al, 1997;Tsai & Shiau, 2003). Yet, when the mechanical manufacturing and assembling errors are brought into the model, kinematic analysis will become complicated.…”

Section: The Error Kinematics Of 3-prs Mechanismmentioning

confidence: 99%