A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism

Junjie Huang; Bowei Hu; Jindian Song

doi:10.16578/j.issn.1004.2539.2019.08.018

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A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism

Design· Calculation | 更新时间：2022-09-25

- A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 8, Pages: 98-102(2019)
- 作者机构：
  
  1.河南理工大学机械与动力工程学院，河南焦作 454000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.08.018
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黄俊杰,胡博炜,宋金典.一种3-PRS并联机构正向运动学求解方法[J].机械传动,2019,43(08):98-102.

Huang Junjie,Hu Bowei,Song Jindian.A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(08):98-102.
黄俊杰,胡博炜,宋金典.一种3-PRS并联机构正向运动学求解方法[J].机械传动,2019,43(08):98-102. DOI： 10.16578/j.issn.1004.2539.2019.08.018.

Huang Junjie,Hu Bowei,Song Jindian.A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(08):98-102. DOI： 10.16578/j.issn.1004.2539.2019.08.018.

摘要

并联机构正向运动学求解复杂、存在多解，是研究的热点和难点。提出用D-H法和图形可视化相结合的方法对3-PRS并联机构进行正向运动学求解的方法。首先，对机构中的球铰做等效转换，运用D-H法对支链进行运动学分析，推导出3-PRS并联机构的正向运动学方程；然后，采用迭代法得到16组正向运动学方程的解，通过可视化编程，直观地得到3-PRS并联机构的位形，即得到并联机构的运动学正解。结果表明，所得到的一组运动学正解与实际结构的位形相符。该方法有效、正确，并适用于求解其他类型的并联机构正向运动学。

Abstract

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.

关键词

3-PRS并联机构D-H法数值法图形可视化正解

Keywords

3-PRS parallel mechanismD-H methodNumerical methodGraphical visualizationForward solution

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