POSITION ANALYSIS FOR A CLASS OF NOVEL 3-DOF TRANSLATIONAL PARALLEL ROBOT MECHANISMS

摘要

A class of new 3-DOF parallel robot mechanisms is investigated Closed-formed solutions are developed for both the forward and inverse kinematics. Compared with known 3-DOF parallel robot mechanisms, these mechanisms are not only simple in structure with fewer solutions for position analyses but also decoupled. The mechanism decouplity, which is related to the topological characteristics, dimensional parameters, kinematic joint types and the choice of input-joints, is very useful for real control and path planning of parallel robots.