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Inverse Kinematics of a Kinematically Redundant Hybrid Parallel Mechanism

  • 期刊论文

  • 发表日期：

    2024年11月1日

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  • M. N. Zakharov,
  • P. A. Laryushkin,
  • A. V. Semenov

摘要

Abstract

Inverse kinematics of a kinematically redundant six-motion hybrid parallel mechanism with structure 3-(3-PRR)PS is considered. Each kinematic chain of the mechanism includes a plane 3-PRR parallel mechanism. An analytical solution of the problem is obtained; and a sample calculation is presented.