Kinematics solution and statics characteristic analysis of 3R//R//C translational parallel mechanism

The kinematics analysis and statics analysis of about a 3-RRC translational parallel mechanism which is proposed by author has been done,including the inverse analytic solution for the mechanism was obtained by the solving of inverse solutions using vector method as well as its input and output movement decoupling was analyzed.The forward numerical solution of the mechanism was solved by applying the one dimensional search method of the proposed ordered single-opened-chain method.Further more,force Jacobian matrix method is taken to carry out the statics analysis to get the relationship between input torques and the output external forces acted on the moving platform.At last,the MATLAB software is used to simulate to carry out the simulation analysis of kinematics and statics characteristics,having supplied the basis of theory for actual applications.