2006•Machine Tool & HydraulicsRequires access

The Analysis of a New 3 Dof Parallel Mechanism Kinematics

Han Xianguo

Abstract

The kinematics equation of a new 3 dof parallel mechanism kinemacics was set up.According to the kinematics equation,the 3-PSS was simplified to be an equivalent mechanism,and the forward and inverse kinematics solution was obtained.Taken into account of the constraint of joint angle,the closed-form workspace equation was given according to its characteristic.The research result provides foundation to analyze other characteristics of the 3-PSS and develop its device.

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Available abstract

Key concepts: Kinematics, Workspace, Mechanism (biology), Inverse kinematics, Kinematics equations, Constraint (computer-aided design), Forward kinematics, Control theory (sociology)