Title :
Simulation and numerical analysis based on kinematics of PRS-XY Serial-Parallel PKM
Author :
Sun Hongchang ; Dai Yi ; Zhang Jianmin ; Li Linaf
Author_Institution :
Tianjin Key Lab. of High Speed Cutting & Precision Machining, TUTE, Tianjin, China
Abstract :
A set of PRS-XY Serial-Parallel PKM(Parallel Kinematic Machine) is presented in this paper. The mechanism is made up of a set of 3-PRS parallel mechanism and an X-Y table. Both the direct and inverse kinematics model are established based on the Kinematics analysis for PRS-XY platform. The numerical analysis is also implemented and the kinematics model is proved to be correct by means of numerical validation and simulation.
Keywords :
kinematics; machine tools; 3-PRS parallel mechanism; PRS-XY serial-parallel PKM; X-Y table; direct kinematics model; inverse kinematics model; numerical analysis; parallel kinematic machine; Couplings; Equations; Joints; Kinematics; Mathematical model; Shafts; Solid modeling;
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
DOI :
10.1109/ICMA.2010.5589192
