Structure and displacement analysis of a novel three-translation parallel mechanism

摘要

A novel 3-DOF parallel robot mechanism with three-translation is synthesized and analyzed according to the structural theory of parallel robotic mechanisms based on single-opened-chain limbs. First, motion output type and mobility analysis of the parallel mechanism are addressed. Second, the closed-form analytic solutions are developed for both forward and inverse kinematics. Then input-output de-coupling analysis is discussed. Finally, numerical solutions and computer simulations for forward kinematics of the parallel mechanism with given specific dimensions are demonstrated.