Exploring the Kinematics and Kinetics of the Novel CT-3RPRS Robot

Document Type : Research Article

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Faculty of Mechanical Engineering, University of Guilan, Rasht, Iran

Abstract

This paper delves into the dynamic modeling and simulation of the conjoined twins 3RPRS (CT-3RPRS) robot, a cutting-edge parallel spatial robot known for its kinematic efficiency and expansive accessible workspace. The CT-3RPRS robot is equipped with six actuators, comprising three prismatic and three revolute actuators, which contribute to its unique constrained structure. To thoroughly analyze the robot's kinematics and kinetics, the Jacobian matrix and Lagrange multipliers are employed, respectively. The motion equations for the CT-3RPRS robot are derived using both the Euler-Lagrange and virtual work methods. These equations are subsequently verified to ensure their equivalence. The comprehensive modeling processes are rigorously validated through MATLAB simulations, providing a robust framework for analysis. Additionally, the results obtained from MATLAB are corroborated using SimScape, further confirming the accuracy and reliability of the dynamic models. This study highlights the CT-3RPRS robot's dynamic features and the effectiveness of the employed modeling techniques. The findings underscore the robot's potential applications in various fields requiring precise and efficient spatial manipulation. Furthermore, validating the dynamic models through dual simulation platforms emphasizes the robustness of the proposed methodologies.

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AUT Journal of Mechanical Engineering
Volume 9, Issue 3
In Progress
July 2025

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