2009•Journal of Shandong University of TechnologyRequires access

Structure and kinematics decoupled analysis of an original 3-CRC parallel mechanism

Song Hong-peng

Abstract

An original 3-CRC parallel mechanism that can carry out three-dimensional translations was proposed.The structure and kinematics output of the mechanism were analyzed,and the degree of freedom was calculated by applying of topology structure design of robot mechanisms.According to the characteristics of the mechanism,its positional forward and inverse modals were set up by using the transformation of coordinates and projection in analytic geometry.The decoupling of the input and output were analyzed based on the conclusions of the forward solution for convenient control,and the kinematics and the decoupling characteristic of the mechanism were simulated and verified by ADAMS software.

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Key concepts: Kinematics, Decoupling (probability), Mechanism (biology), Inverse kinematics, Computer science, Control theory (sociology), Forward kinematics, Topology (electrical circuits)