Kinematic analysis of a 3-PRS parallel manipulator

Yangmin Li, Qingsong Xu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

228 Citations (Scopus)


Although the current 3-PRS parallel manipulators have different methods on the arrangement of actuators, they may be considered as the same kind of mechanism since they can be treated with the same kinematic algorithm. A 3-PRS parallel manipulator with adjustable layout angle of actuators has been proposed in this paper. The key issues of how the kinematic characteristics in terms of workspace and dexterity vary with differences in the arrangement of actuators are investigated in detail. The mobility of the manipulator is analyzed by resorting to reciprocal screw theory. Then the inverse, forward, and velocity kinematics problems are solved, which can be applied to a 3-PRS parallel manipulator regardless of the arrangement of actuators. The reachable workspace features and dexterity characteristics including kinematic manipulability and global dexterity index are derived by the changing of layout angle of actuators. Simulation results illustrate that different tasks should be taken into consideration when the layout angles of actuators of a 3-PRS parallel manipulator are designed.
Original languageEnglish
Pages (from-to)395-408
Number of pages14
JournalRobotics and Computer-Integrated Manufacturing
Issue number4
Publication statusPublished - 1 Aug 2007
Externally publishedYes


  • Dexterity
  • Kinematics
  • Mechanism design
  • Mobility
  • Parallel mechanism
  • Workspace

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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