Solution for Direct Kinematics of 3-PRS Parallel Manipulator Using Sylvester Dialytic Elimination Method

DOI

10.2991/icmce-14.2014.27How to use a DOI?

Keywords

Parallel Manipulator, Direct Kinematics, Nonlinear System, Sylvester Dialytic Elimination

Abstract

This paper presents the direct kinematics of a 3-PRS parallel manipulator. Through analysis position, the direct kinematics model is established, which is a nonlinear system of three equations in three unknown. The equations are derived using recursively the Sylvester dialytic elimination method. Finally, a numerical example is provided. Therefore, the direct kinematics is minimal..

Copyright

© 2014, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Bao-Lin YIN
AU  - Bing-Bing YAN
AU  - Jun-Feng SHUAI
AU  - Wen-Bo REN
PY  - 2014/12
DA  - 2014/12
TI  - Solution for Direct Kinematics of 3-PRS Parallel Manipulator Using Sylvester Dialytic Elimination Method
BT  - Proceedings of the 2014 International Conference on Mechanics and Civil Engineering
PB  - Atlantis Press
SP  - 151
EP  - 155
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmce-14.2014.27
DO  - 10.2991/icmce-14.2014.27
ID  - YIN2014/12
ER  -