Dynamic Characteristics Analysis of the 3-(PRPR)RS Parallel Manipulator

A three-degree-of-freedom 3-2(Prismatic-Revolute)-Revolute-Spherical (3-(PRPR)RS) parallel manipulator is proposed where its kinematics and dynamics characteristics are studied. First, the kinematic characteristics of the structure of 3-(PRPR)RS parallel manipulator are analyzed, and the constraint relation and inverse kinematics equations of each branch chain of the manipulator are deduced. Second, by analyzing the kinetic energy and potential energy of 3-(PRPR)RS parallel manipulator, the analytical dynamic equation of the 3-(PRPR)RS parallel manipulator is derived from the Lagrange equation. Third, the kinematic characteristics of the 3-(PRPR)RS parallel manipulator and the system's dynamic characteristics such as driving force and energy consumption are discussed using a numerical example. The research content provides a theoretical basis for deeply understanding the dynamic essence of the 3-(PRPR)RS parallel manipulator, and further developing the performance optimization and high-precision control of the 3-(PRPR)RS parallel manipulator.