Simulation of kinematic and workspace analysis of 3-PRS parallel manipulator

作     者：Y.D.Patel P.M.George 

作者机构：Department of Mechanical Engineering A.D.Patel Institute of Technology New Vallabh VidyanagarGujaratIndia Department of Mechanical Engineering Birla Vishvakarma Mahavidyalaya Engineering College Vallabh VidyanagarIndia 

出 版 物：《International Journal of Modeling, Simulation, and Scientific Computing》 (建模、仿真和科学计算国际期刊（英文）)

年 卷 期：2015年第6卷第1期

页      面：111-122页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：Authors would like to acknowledge the support of Sophisticated Instrumentation Centre for Applied Research and Testing – SICART 

主　　题：Parallel manipulator mobility constraints workspace 

摘      要：In the present era,the competitive producers are forced to use maximally newer advanced technology and its effective fast implementation using various available tools for synthesis of new product *** of current state of art computer aided technology supports the creation of flexible assemblies and their built up though unified modular *** design of robotic mechanism is a complex process involving geometric,kinematic,singularity analyses during its synthesis *** present work is aimed at the effective utilization of CAx system Pro/Engineer tools for creation,ease in modifi-cation and analysis of spatial parallel *** degrees of freedom of 3-PRS parallel manipulator is obtained using mobility *** manipulator with 3-DOF with 3-PRS configuration is *** kinematics simulation of the robot is carried out using mechanism simulation and compared with closed form *** concept of reachable,orientation and dexterous workspace is *** tip coordinates obtained through simulation are plotted for workspace *** and outer workspace boundaries are developed and analyzed for four different cases to understand the problem of interior singularity within workspace.