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

• Published in: Mechanism and machine theory Vol. 40; no. 10; pp. 1181 - 1194
• Main Authors: Shen, Huiping, Yang, Tingli, Tao, Shaobin, Liu, Anxin, Ma, Lv-zhong
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 01.10.2005; New York, NY Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control theory. Systems; Displacement analysis; Drives; Exact sciences and technology; Linkage mechanisms, cams; Mechanical engineering. Machine design; Parallel mechanisms; Parallel robotics; Robotics; Single opened chain; Synthesis; Parallel mechanisms; Synthesis; Parallel robotics; Single opened chain; Displacement analysis; Input output; Computer simulation; Mechanism analysis; Mobility; Parallel mechanism; Modeling; Robotics; Inverse problem; Exact solution; Direct problem; Kinematics; Linkage mechanism; Open loop; Numerical simulation; System with three degrees of freedom; Structural analysis
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2004.12.022

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.