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Kinematic Analysis of Parallel 3-RPS Manipulator

Wilczyński D., Auguściński A., Talaśka K.

Machine Dynamics Problems

2008

Vol. 32, No. 2

104-108

There was solved a problem of inverse kinematics of parallel manipulator - tripod type (3RPS). Above relationships allow to calculate the length l of kinematic pairs with variable length - P type. Solving above system of equations one can solve a problem of inverse kinematics of similar parallel structures to presented ones in this work. Relationships can be used to create control algorithm of parallel mechanism. Simulations of equations (5), (6) and (7) were performed in LabVIEW software. Verification of equations will be conducted after development of physical model of manipulator and control algorithm with usage of these equations.