;ast forward kinematics algorithm for real-time and ligh-precision control of the 3-RPS parallel mechanism

作     者：Yue WANG Jingjun YU Xu PEI 

作者机构：Robotics Institute Beihang University Beijing 100191 China Department of Mechanical Design Beihang University Beijing 100191 China 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2018年第13卷第3期

页      面：368-375页

核心收录：

学科分类：080704[工学-流体机械及工程] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Acknowledgements The authors gratefully acknowledge the financial support of the National Natural Science Foundation of China (Grant No. 51575017) 

主　　题：3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion 

摘      要：A new forward kinematics algorithm for the mechanism of 3-RPS （R： Revolute; P： Prismatic; S： Spherical） parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10 6. In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.