Kinematics Analysis of 3-RRPS Parallel Mechanism

Abstract

In this paper, the kinematics of the 3-RRPS parallel mechanism was deeply studied, and the kinematics mathematical model of the parallel mechanism was obtained by using the method of coordinate system transformation. The inverse solution of the parallel mechanism pose was obtained by solving this equation, and the nonlinear equation was obtained from the inverse solution. The forward solution of the attitude of the parallel mechanism was calculated by solving this nonlinear equation with Jacobian matrix and Newton iterative algorithm, which is an approximate solution. Finally, we verified the correctness of the forward kinematics solution through MATLAB.