Jixie chuandong (Mar 2019)
Kinematics Analysis of 3-PRS+2P Hybrid Mechanism
Abstract
The kinematics analysis of the 3-PRS+2P hybrid mechanism is carried out. The inverse kinematics equation of the mechanism is established by combining the geometric method with the coordinate transformation，and the analytical solution of the inverse kinematics of the mechanism is obtained. The position of the cutter location is transformed into the three vertex coordinates of the moving platform，and the positive kinematics model of the mechanism is established. At the same time，the two parameter numerical extension homotopy algorithm is used to find the numerical solution of the positive kinematics. The analytic expression of the inverse solution is calculated based on Maple. The structure of the solution is simple and easy to be programmed. The iterative process of the positive solution is realized based on the Matlab programming，and the numerical solution reaches the precision requirement. The correctness of the positive and inverse solutions is verified through the modeling，computation and simulation of UG and Matlab.
