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This paper is devoted to solving the direct kinematics of a novel 3-PRPS type parallel manipulator with six-degrees-of-freedom, where P, R, and S are prismatic, revolute and spherical kinematic pairs respectively. The considered parallel manipulator is formed by connecting a moving platform with a fixed platform (base) through three closing kinematic chains of a PRPS type in which the prismatic kinematic pairs are active, and they are located on a fixed platform and legs. The constant and variable parameters of the parallel manipulator characterizing its geometry and kinematics respectively are determined. In the direct kinematics, the positions of the moving platform are determined by the known constant parameters of the links and the given variable parameters of the active kinematic pairs. This problem is reduced to solve the 16th order polynomial equation.

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Kinematic Analysis of a 3-PRPS Type Parallel Manipulator

  • 会议论文

  • 发表日期：

    2025年

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  • Zhumadil Baigunchekov,
  • Med Amine Laribi,
  • Giuseppe Carbone,
  • Rustem Kaiyrov,
  • Wang Xuelin,
  • Li Qian,
  • Abzal Kassinov

摘要

This paper is devoted to solving the direct kinematics of a novel 3-PRPS type parallel manipulator with six-degrees-of-freedom, where P, R, and S are prismatic, revolute and spherical kinematic pairs respectively. The considered parallel manipulator is formed by connecting a moving platform with a fixed platform (base) through three closing kinematic chains of a PRPS type in which the prismatic kinematic pairs are active, and they are located on a fixed platform and legs. The constant and variable parameters of the parallel manipulator characterizing its geometry and kinematics respectively are determined. In the direct kinematics, the positions of the moving platform are determined by the known constant parameters of the links and the given variable parameters of the active kinematic pairs. This problem is reduced to solve the 16th order polynomial equation.