A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism
It is necessary that parallel mechanisms are researched because of the complex and multiple kinematics solution, and it is the research hotspot and the difficulty. The method of combining D-H and graphical visualization is put forward to solve the forward kinematics of 3-PRS parallel mechanism. Firs...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.018 |
| _version_ | 1797818974040227840 |
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| author | Junjie Huang Bowei Hu Jindian Song |
| author_facet | Junjie Huang Bowei Hu Jindian Song |
| author_sort | Junjie Huang |
| collection | DOAJ |
| description | It is necessary that parallel mechanisms are researched because of the complex and multiple kinematics solution, and it is the research hotspot and the difficulty. The method of combining D-H and graphical visualization is put forward to solve the forward kinematics of 3-PRS parallel mechanism. Firstly, the spherical hinge in parallel mechanisms is equivalent converted, and then the kinematics analysis is carried out by D-H method, the forward kinematics equation is deduced. Secondly, the 16 forward solutions are obtained by iterative method. The 16 visible graphics are intuitively obtained by visual programming, that is, the forward kinematics solution of the parallel mechanism is obtained. In the end, the result shows that one of the obtained graphics is coincident with the actual position and pose for 3-PRS parallel mechanism. This method is valid and correct, and it is also suitable for solving forward kinematics of other types of parallel mechanism. |
| first_indexed | 2024-03-13T09:17:04Z |
| format | Article |
| id | doaj.art-5ae9ee3992804923a762b2b1261e6a41 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:17:04Z |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-5ae9ee3992804923a762b2b1261e6a412023-05-26T09:53:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-01439810230643337A Solving Method for Forward Kinematics of 3-PRS Parallel MechanismJunjie HuangBowei HuJindian SongIt is necessary that parallel mechanisms are researched because of the complex and multiple kinematics solution, and it is the research hotspot and the difficulty. The method of combining D-H and graphical visualization is put forward to solve the forward kinematics of 3-PRS parallel mechanism. Firstly, the spherical hinge in parallel mechanisms is equivalent converted, and then the kinematics analysis is carried out by D-H method, the forward kinematics equation is deduced. Secondly, the 16 forward solutions are obtained by iterative method. The 16 visible graphics are intuitively obtained by visual programming, that is, the forward kinematics solution of the parallel mechanism is obtained. In the end, the result shows that one of the obtained graphics is coincident with the actual position and pose for 3-PRS parallel mechanism. This method is valid and correct, and it is also suitable for solving forward kinematics of other types of parallel mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.0183-PRS parallel mechanism;D-H method;Numerical method;Graphical visualization;Forward solution |
| spellingShingle | Junjie Huang Bowei Hu Jindian Song A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism Jixie chuandong 3-PRS parallel mechanism;D-H method;Numerical method;Graphical visualization;Forward solution |
| title | A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism |
| title_full | A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism |
| title_fullStr | A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism |
| title_full_unstemmed | A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism |
| title_short | A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism |
| title_sort | solving method for forward kinematics of 3 prs parallel mechanism |
| topic | 3-PRS parallel mechanism;D-H method;Numerical method;Graphical visualization;Forward solution |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.018 |
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