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2008•Machine Tool & HydraulicsRequires access

A New Type 3-DOF Parallel Mechanism and Its Kinematics Analysis

Jianguo Duan

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Abstract

A new type of three translational parallel robot mechanism was put forward,mechanical principle and freedom of the mechanism which can realize three dimensional translation were analyzed by screw theory,the position of driving pair of the mechanism was judged.The forward and the inverse solutions of the mechanism were analyzed,the velocity and acceleration analysis was carried out,and the kinematics decouplity of the input-output component of the mechanism was discussed.

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What this paper is about

A new type of three translational parallel robot mechanism was put forward,mechanical principle and freedom of the mechanism which can realize three dimensional translation were analyzed by screw theory,the position of driving pair of the mechanism was judged.The forward and the inverse solutions of the mechanism were analyzed,the velocity and acceleration analysis was carried out,and the kinematics decouplity of the input-output component of the mechanism was discussed.

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Available abstract

A new type of three translational parallel robot mechanism was put forward,mechanical principle and freedom of the mechanism which can realize three dimensional translation were analyzed by screw theory,the position of driving pair of the mechanism was judged.The forward and the inverse solutions of the mechanism were analyzed,the velocity and acceleration analysis was carried out,and the kinematics decouplity of the input-output component of the mechanism was discussed.

Key concepts: Mechanism (biology), Screw theory, Kinematics, Inverse kinematics, Translation (biology), Position (finance), Control theory (sociology), Acceleration

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