Kinematic Analysis and Simulation of the Translational Parallel Mechanism

摘要

This paper presents a novel，precision，maneuverable， 3-DOF translational parallel mechanism．The mechanism’S important feature iS that all of the kinematic ioints are the revolute joints．The paper derives the mechanism’S kinematic forward solution and inverse solution by using of Coordinate transformation elimination method and vector method，and establishes proper kinematic modeling．Kinematic simulmion iS carried out by ADAMS virtual prototyping software． The operating data iS obtained．It verifies the correctness of solving the forward and inversc solution， and solve the question of choices for many results during the theoretical solution．This technique can provide a useful tool in the design of kinematic trajectory of the parallel mechanism’S end-effector and the kinematic analysis of other parallel mechanism．