Inverse Kinematics of a 3-PRPS Type Parallel Manipulator

In this paper, geometry and inverse kinematics of a 3-PRPS type parallel manipulator are studied. This parallel manipulator is formed by connecting a moving platform with a base by three passive closing kinematic chains of a PRPS type. Constant and variable parameters characterizing the geometry of links and relative movements of elements of kinematic pairs, respectively, are defined, and the matrices of binary links and kinematic pairs are derived. On the base of these matrices of binary links and kinematic pairs, the inverse kinematics problem is solved and numerical results are presented.