Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Abstract

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10⁻⁶. In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

Key words： 3-RPS parallel mechanism; forward kinematics; numerical algorithm; parasitic motion

Acknowledgements

The authors gratefully acknowledge the financial support of the National Natural Science Foundation of China (Grant No. 51575017).

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