Analysis uncovers challenges in solving kinematic equations of a 3-PRS parallel manipulator, indicating the necessity of numerical methods.
In this article the forward kinematic analysis the 3-PRS parallel manipulator was done. A set of equations were developed for the 3-PRS manipulator were calculated with the known link lengths and joint angles. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is that good initial guesses are not easy to detect and another is related to whether the used method will converge to useful solutions.
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Meghavathu Roopa (2026) studied this question.
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