Kinematics analysis of 3-PRC parallel mechanism

Kinematics analysis on the mechanism of 3-PRC parallel robot that possessing 3 translational degree of freedoms was discussed.Based on the motion constraint equation of mechanism,the translational motion law of mechanism was testified through coordinate's transformation,and the analytical expression for the converse solution of the position of mechanism was presented.The displayed mathematical model for the relationship of velocity and acceleration between 3 parameters of outputting motion and 3 parameters of motion input was established.The forward and converse solutions of velocity and acceleration of mechanism were obtained,and moreover the converse solution was given out in two forms.Theoretical analysis and simulation of computational example showed the equivalence of the solutions of these two kinds of forms.