Kinematics of A 3-PRP planar parallel robot

Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lanţuri cinematice plane ce conectează platforma mobilă a manipulatorului sunt situate in plan vertical. Cunoscând miscarea platformei, se dezvoltă cinematica inversă si se determină poziţiile, vitezele si acceleraţiile robotului. Unele ecuaţii matriceale oferă expresii iterative si grafice pentru deplasările, vitezele si acceleraţiile celor trei acţionori de translaţie. Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the platform, we develop the inverse kinematics and determine the positions, velocities and accelerations of the robot. Several matrix equations offer iterative expressions and graphs for the displacements, velocities and accelerations of the three prismatic actuators.

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