KINEMATICAL PERFORMANCE ANALYSIS FOR PLANAR PARALLEL MECHANISM 3RRR

摘要

The kinematics of 3-DOF planar parallel symmetrical mechanisms—3RRR are studied with kinematical influence coefficient method. Some novel kinematical performance indices for parallel mechanism including velocity and acceleration indices are presented based on the kinematics influence coefficient matrices. According to these performance indices, the kinematical performance of mechanisms—3RRR is studied and the relationship between the design parameters and its kinematical performance are given by performance atlases which would be helpful for mechanism design.