A Novel 3-PRC Translational Parallel Manipulator with 3D and Its Positional Analysis

摘要

Based on the theory of the stricture synthesis for parallel robot mechanisms,a novel 3-DOF spatial 3-P⊥R//C parallel manipulator with 3D pure translation has been put forward.By means of three constraint kinematical branches with prismatic,revolute and cylindrical pairs,the moving platform was linked the fixed platform of the manipulator.Three actuator axes of the translational driving pairs on the fixed element are parallel one another.The complete closed form formulae of positive and reverse positional solution for the mechanism are presented based on the constrained length of the bars.Analytical conclusions provide theoretical basis for designing and practical applicability of the mechanism.