Inverse Kinematics Analysis and Mechatronics Design of Mobile Parallel Manipulator for Assisted Assembly

Aiming at the needs of assisted assembly in industrial production lines, a mobile parallel manipulator configuration combining 3-RPS parallel mechanism and Mecanum wheel platform is firstly proposed. Secondly, The method of applying the screw theory to the limb chains of the traditional 3-RPS parallel manipulator (PM) is analysed, and the degree of freedom (DOF) of the PM is determined to be 3, i.e., one translational and two rotational DOF. Thirdly, the inverse kinematic solution of the PM is calculated. Comparing the various orientation description methods, the Z-X-Z Euler angle description can simplify the computational complexity. the inverse kinematics solution is obtained by Matlab and compared with the simulation analysis results of Adams kinematics. Finally, the design architecture of the control system and the photos of the prototype are given.