Inverse kinematics analysis of a novel parallel robot with large workspace

摘要

A novel 6-PRRS parallel robot was developed which has the characteristics of movement rapidity and larger workspace. The mechanism structure of the 6-PRRS parallel robot is described in detail. Based on the strategy of simplifying the dynamic model a virtual work principle based Lagrange method is proposed to build the inverse dynamics of the 6-PRRS parallel robot. Experiments show that the proposed dynamic method is effective and feasible.