Abstract
Jacobian matrix plays a crucial role of kinematic synthesis of a parallel mechanism, however, can not directly be used for its nonhomogeneous physical units. This paper proposes the detailed formulation of the dimensionally homogeneous analytical Jacobian of 3PRS parallel mechanism. After defining a kinematic index and the design variables, the sensitivity that the index varies with dimension parameters is performed. Based on the two chosen case, it is also conducted that the index distributes in the prescribed workspace. Then, the kinematic characteristics of the system are discussed. These results provide the informative insight for choosing the optimal solution of the dimension parameters of 3PRS.
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