Kinematics modelling of a 3-PRC parallel kinematic machine

Yangmin Li, Qingsong Xu, Stefan Staicu

Research output: Journal article publicationJournal articleAcademic researchpeer-review


Recursive matrix relations for kinematics of a three-prismatic-revolute- cylindrical (3-PRC) parallel kinematic machine (PKM) are established in this paper. Knowing the translational motion of the platform, we develop the inverse kinematical problem and determine the positions, velocities and accelerations of the robot's elements. Finally, compact matrix equations and graphs of simulation for displacements, velocities and accelerations of each of three legs are obtained.
Original languageEnglish
Pages (from-to)117-124
Number of pages8
JournalProceedings of the Romanian Academy Series A - Mathematics Physics Technical Sciences Information Science
Issue number2
Publication statusPublished - 1 Apr 2011
Externally publishedYes


  • Kinematics
  • Parallel kinematic machine
  • Platform

ASJC Scopus subject areas

  • General Computer Science
  • General Mathematics
  • General Engineering
  • General Physics and Astronomy


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