文章基本信息

标题：Development of a MATLAB Toolbox for 3-PRS Parallel Robot
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作者：Guoqiang Chen ; Jianli Kang
期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2014
卷号：7
期号：5
页码：401-412
DOI：10.14257/ijhit.2014.7.5.37
出版社：SERSC
摘要：Aiming at one kind of 3-PRS parallel robot, the study develops a toolbox in MATLAB. The toolbox includes functions for forward kinematics, inverse kinematics, velocity kinematics, error analysis, schematic representation, and so on. The architecture of the 3-PRS robot is introduced firstly. The instructions of the functions, developing procedure and main algorithms are presented secondly. The toolbox encapsulates complicated mathematical formulas into the single function and provides standard inputs and outputs, which improves the reliability and makes it easy to use. Finally, an example calls the toolbox function, and verifies its correctness, reliability and convenience.
关键词：3-PRS parallel robot; toolbox; forward kinematics; inverse kinematics