International Journal of Robotics and Automation (IJRA) Vol.9, No.2, June 2020, pp. 135~142 ISSN: 2089-4856, DOI: 10.11591/ijra.v9i2.pp135-142  135 Journal homepage: http://ijra.iaescore.com Inverse kinematic analysis of 3 DOF 3-PRS PM for machining on inclined prismatic surfaces Hishantkumar Rashmikantbhai Patel, Yashavant Patel Mechanical Engineering Department, A D Patel Institute of Technology, India Article Info ABSTRACT Article history: Received Sep 18, 2019 Revised Oct 06, 2019 Accepted Feb 18, 2020 Parallel Manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology and many more. In this paper, the primary focus on usage of parallel manipulator in industrial applications such as drilling and grooving on inclined work part surface. Inverse kinematic solutions are used for drilling, square and round profiles on inclined surface using parallel manipulator. Keywords: 3 PRS Inverse kinematic Parallel manipulator Prismatic surfaces This is an open access article under the CC BY-SA license. Corresponding Author: Hishantkumar Rashmikantbhai Patel, Mechanical Engineering Department, A D Patel Institute of Technology, New Vallabh Vidyanagar Gujarat, India. Email: hishupatel111@gmail.com 1. INTRODUCTION In recent era, there are lot of research works going on parallel manipulators (PMs)due to their inherent qualities for precise manufacturing or precise working in smaller operating workspace. Following three elements are commonly used in any parallel mechanisms such as, 1) fixed platform, 2) connecting links and 3) moving platform. Various configurations of parallel mechanisms and their applications such as food packaging industry and automatic spray printing etc. Cable driven robots are applicable in cutting, excavating as well as grinding. 3PUU and 3-PRS parallel manipulators are used in medical and machining applications respectively as reported by Y.D Patel et al. [1]. Now days, high- speed machining of extra-large component with complex geometries is one of the challenging problem in machine tool industry. For instance, machining an aircraft component having large cross section would require a huge gantry 5-axis machine tool with tons of weight and large footprint. One auspicious alternative solution is the use of parallel kinematic mechanism in place of large machine tool. This proposal has been fully exemplified by commercial susses of Tricept robotics [2] and sprint Z 3 [3] head in locomotive and aerospace industries. HUANG, et al. proposed novel parallel kinematic machine (PKM) named A3 head which has one transitional and two rotational capabilities. Added by x-y motion, proposed module can be used as a multiple axis spindle head to form a 5-axis high speed machining unit. Motivated by machining using conventional machine required additional support structure like jigs and fixture. One can use this parallel kinematic structure in place of conventional machine which reduce production time as well as production cost. Forward kinematic is required for synthesis of new robotics configuration. Inverse kinematic is mandatory for its real application during machining requirements. The direct kinematic analysis