Kinematics and static characteristics analysis of 3-RPS parallel mechanism

The kinematics and static characteristics of 3-RPS parallel mechanism was analyzed and the inverse displacement and pose constrained equations were established.By analyzing the forward and inverse velocity of the mechanism,the correlation equations of velocity components were solved.Through establishing the force balance equation and static transfer matrix,the dual relation between velocity mapping and force mapping was determined.By proving the symmetry of its work space,a good pose inspection approach was proposed to solve the forward displacement problem effectively.The analytic results were verified by the numerical examples.It has laid the theoretical basis for the optimum design and control planning of the parallel mechanism.