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《Journal of Yanshan University》 2008-04
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Analysis of active forces and constraint reactions of 3-RPS parallel manipulator

ZHAO Yan 1 , HUANG Zhen 1 (1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China)  
In this paper, dynamics analysis of 3-RPS parallel manipulator is presented. In the first instance, the active forces and constraint reactions applied to the platform (the constraint reactions of the spherical joint) are determined from the dynamic equi-librium equations of the legs and the platform. Then the other constraint reactions can be gained easily. The results are listed by two numerical examples. The advantages and disadvantages of the method as well as its trend are also discussed.
【Fund】: 国家自然科学基金资助项目(50575197)
【CateGory Index】: TP242
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