Kinematics Analysis to 3{R//R//C} Parallel Robot Mechanism

摘要

3{R//R//C} parallel robot mechanism is one of the most utility outlook mechanisms among the parallel robot mechanisms, but analysis and development to it is too inadequate. In this paper, position equation to 3{R//R//C} parallel robot mechanism was established by space coordinate conversion method, velocity equation of it was gained by taking the derivation of the position equation. The position solution and the velocity solution of their equations were solved by program which written in Matalab environment.