Kinematic Modeling and Analysis of 3-PRR Parallel Manipulator using MATLAB GUI

The analysis of 3-PRR manipulators is carried out. Forward and Inverse pose kinematics of the manipulator is derived. The Jacobian matrix relating the task space velocity to the join-space velocity is then symbolically evaluated. Various algorithms are devised for implementation of manipulability calculation, workspace evaluation and path tracking of the manipulator. A study of the manipulability is carried out using Yoshikawa’s Manipulability index and Condition number index. Workspace analysis is carried out for maximal, dexterous and constant orientation type workspace. Different types of control (open and closed loop) are implemented and analyzed. The system is developed in the form of a MATLAB GUI.