DefinePK

Abstract

Parallel manipulators have gained a lot of attraction from the research community. They come in various configurations. This paper mainly addresses the issues regarding kinematics and singularity analysis of prismatic revolute and spherical (3-PRS) parallel mechanism. A comprehensive and simple approach is presented to estimate the detailed kinematics, and singularity model of 3-PRS mechanism. For kinematic analysis first CAD model of the proposed 3 PRS mechanism is made using Autodesk inventor professional software. Starting with the inverse kinematics an analytical model is derived. For forward kinematics both analytical and numerical analysis are performed to ensure the efficiency of the presented methodology and results are compared with the presented CAD model which are closely related to each other. The singularity analysis is also done and presented in this paper.